Lexium Library

0198441113892, V2.09, 04.2012 

Lexium Library 

Function blocks 

Software manual 

V2.09, 04.2012 

www.schneider-electric.com 

SoMachine

Important information Lexium Library 

Important information 

This manual is part of the product. 

Carefully read this manual and observe all instructions. 

Keep this manual for future reference. 

Hand this manual and all other pertinent product documentation over 

to all users of the product. 

Carefully read and observe all safety instructions and the chapter 

"Before you begin - safety information". 

Some products are not available in all countries. 

For information on the availability of products, please consult the catalog. 

Subject to technical modifications without notice. 

All details provided are technical data which do not constitute warranted 

qualities. 

Most of the product designations are registered trademarks of their 

respective owners, even if this is not explicitly indicated. 

2 Function blocks 

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Lexium Library Table of contents 

Table of contents 

Important information 2 

Table of contents 3 

About this manual 7 

1 Before you begin - safety information 9 

1.1 Qualification of personnel 9 

1.2 Intended use 9 

1.3 Hazard categories 10 

1.4 Basic information 11 

1.5 Standards and terminology 12 

2 Lexium Library Guide 13 

2.1 PLCopen state diagram 14 

2.2 List of the function blocks 15 

2.3 Compatibility of the function blocks 19 

2.4 Memory structure during parameter transmission 23 

2.5 Transitions between function blocks 24 

2.6 Basic inputs and outputs 27 

2.6.1 Signal behavior of function blocks with the input Enable 29 

2.6.2 Signal behavior of function blocks with the input Execute 31 

2.7 Single axis 33 

2.7.1 Initialization 33 

2.7.1.1 MC_Power_LXM 33 

2.7.2 Operating mode Jog 34 

2.7.2.1 MC_Jog_LXM 34 

2.7.3 Operating mode Current Control 36 

2.7.3.1 CurrentControl_LXM 36 

2.7.4 Operating mode Profile Torque 38 

2.7.4.1 MC_TorqueControl_LXM 38 

2.7.5 Operating mode Speed Control / Oscillator 40 

2.7.5.1 VelocityControl_LXM 40 

2.7.6 Operating mode Profile Velocity 42 

2.7.6.1 MC_MoveVelocity_LXM 42 

2.7.7 Operating mode Profile Position 43 

2.7.7.1 MC_MoveAbsolute_LXM 43 

2.7.7.2 MC_MoveAdditive_LXM 44 

2.7.7.3 MC_MoveRelative_LXM 44 

2.7.8 Operating mode Homing 46 

Function blocks 3

Table of contents Lexium Library 

2.7.8.1 MC_Home_LXM 46 

2.7.8.2 MC_SetPosition_LXM 48 

2.7.9 Stopping 49 

2.7.9.1 MC_Stop_LXM 49 

2.7.9.2 MC_Halt_LXM 49 

2.7.10 Position capture via signal input 51 

2.7.10.1 MC_TouchProbe_LXM 51 

2.7.10.2 MC_AbortTrigger_LXM 52 

2.8 Multi axis 53 

2.8.1 Operating mode Electronic Gear 53 

2.8.1.1 GearInSync_LXM 53 

2.8.1.2 MC_GearIn_LXM 54 

2.8.1.3 MC_GearOut_LXM 56 

2.9 Motion Sequence 57 

2.9.1 Operating mode Motion Sequence 57 

2.9.1.1 ReadMotionSequenceStatus_LXM 57 

2.9.1.2 ReadDataSet_LXM 57 

2.9.1.3 WriteDataSet_LXM 58 

2.9.1.4 WriteTransitionCondition_LXM 58 

2.9.1.5 StartMotionSequence_LXM 58 

2.9.1.6 AbortMotionSequence_LXM 59 

2.10 Administrative 60 

2.10.1 Reading a parameter 60 

2.10.1.1 MC_ReadActualTorque_LXM 60 

2.10.1.2 MC_ReadActualVelocity_LXM 60 

2.10.1.3 MC_ReadActualPosition_LXM 61 

2.10.1.4 MC_ReadStatus_LXM 62 

2.10.1.5 MC_ReadParameter_LXM 64 

2.10.1.6 GetSupplierVersion 66 

2.10.2 Writing a parameter 67 

2.10.2.1 MC_WriteParameter_LXM 67 

2.10.2.2 SetDriveRamp_LXM 68 

2.10.2.3 SetStopRamp_LXM 69 

2.10.2.4 SetLimitSwitch_LXM 70 

2.10.2.5 ResetParameters_LXM 71 

2.10.2.6 StoreParameters_LXM 71 

2.10.3 Saving and restoring device configuration 73 

2.10.3.1 UploadDriveParameter_LXM 73 

2.10.3.2 DownloadDriveParameter_LXM 73 

2.10.4 Inputs and outputs 75 

2.10.4.1 ReadAnalogInputs_LXM 75 

2.10.4.2 MC_ReadDigitalInput_LXM 75 

2.10.4.3 MC_ReadDigitalOutput_LXM 76 

2.10.4.4 MC_WriteDigitalOutput_LXM 77 

2.10.5 Error handling 79 

2.10.5.1 ReadAxisWarning_LXM 79 

2.10.5.2 MC_ReadAxisError_LXM 79 

2.10.5.3 MC_Reset_LXM 82 

2.11 Device Function 83 

2.11.1 Startup 83 

2.11.1.1 Servo_Startup 83 


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Lexium Library Table of contents 

2.11.1.2 Stepper_Startup 89 

3 Glossary 97 

3.1 Units and conversion tables 97 

3.1.1 Length 97 

3.1.2 Mass 97 

3.1.3 Force 97 

3.1.4 Power 97 

3.1.5 Rotation 98 

3.1.6 Torque 98 

3.1.7 Moment of inertia 98 

3.1.8 Temperature 98 

3.1.9 Conductor cross section 98 

3.2 Terms and Abbreviations 99 

4 Index 101 

Function blocks 5

Lexium Library 


0198441113892, V2.09, 04.2012

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Lexium Library About this manual 

About this manual 

Purpose of this document 

Validity note 

This manual is an extract of the SoMachine Online Help. Fully read 

and understand all manuals of the SoMachine Online Help and of the 

products used. 

This document describes the functions of the Lexium Library. 

Software environment Devices Fieldbus 

Device Descriptions of version 

3.2 and higher are 

supported. 

LXM05 

SD328 

LXM32 

This document is valid for SoMachine as of Version 2.0. 

CANopen 

Source manuals The latest versions of the manuals can be downloaded from the Internet 

at: 

http://www.schneider-electric.com 

Corrections and suggestions We always try to further optimize our manuals. We welcome your suggestions 

and corrections. 

Please get in touch with us by e-mail: 

techcomm@schneider-electric.com. 

Work steps If work steps must be performed consecutively, this sequence of steps 

is represented as follows: 

■ Special prerequisites for the following work steps 

▶ Step 1 

◁ Specific response to this work step 

▶ Step 2 

If a response to a work step is indicated, this allows you to verify that 

the work step has been performed correctly. 

Unless otherwise stated, the individual steps must be performed in the 

specified sequence. 

SI units SI units are the original values. Converted units are shown in brackets 

behind the original value; they may be rounded. 

Example: 

Minimum conductor cross section: 1.5 mm 2 (AWG 14) 

Glossary Explanations of special technical terms and abbreviations. 

Index List of keywords with references to the corresponding page numbers. 

Function blocks 7

About this manual Lexium Library 

Disclaimer The information provided in this documentation contains general 

descriptions and/or technical characteristics of the performance of the 

products described here. This documentation is not intended as a 

substitute for and is not to be used for determining suitability or reliability 

of these products for specific user applications. It is the duty of 

any user or integrator to perform the appropriate and fully comprehensive 

risk analyses, evaluation and testing of the products with respect 

to the relevant specific application or use of the products. Neither 

Schneider Electric nor any of its affiliate or subsidiaries shall be 

responsible or liable for misuse of the information contained herein. If 

you have any suggestions for improvements or amendments or have 

found errors in this publication, please notify us. 

No part of this document may be reproduced in any form or by any 

means, electronic or mechanical, including photocopying, without 

express written permission of Schneider Electric. 

All pertinent state, regional, and local safety regulations must be 

observed when installing and using this product. For reasons of safety 

and to help ensure compliance with documented system data, only 

the manufacturer should perform repairs to components. 

When devices are used for applications with technical safety requirements, 

the relevant instructions must be followed. 

Failure to use Schneider Electric software or approved software with 

our hardware products may result in injury, harm, or improper operating 

results. 

Failure to observe this information can result in injury or equipment 

damage. 


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Lexium Library 1 Before you begin - safety information 

1 Before you begin - safety information 

1.1 Qualification of personnel 

1.2 Intended use 

1 

Only appropriately trained persons who are familiar with and understand 

the contents of this manual and all other pertinent product documentation 

are authorized to work on and with this product. In addition, 

these persons must have received safety training to recognize and 

avoid hazards involved. These persons must have sufficient technical 

training, knowledge and experience and be able to foresee and detect 

potential hazards that may be caused by using the product, by changing 

the settings and by the mechanical, electrical and electronic equipment 

of the entire system in which the product is used. 

All persons working on and with the product must be fully familiar with 

all applicable standards, directives, and accident prevention regulations 

when performing such work. 

This product is a library for industrial use with the appropriate controllers 

and drives. 

The product may only be used in compliance with all applicable safety 

regulations and directives, the specified requirements and the technical 

data. 

Prior to using the product, you must perform a risk assessment in view 

of the planned application. Based on the results, the appropriate 

safety measures must be implemented. 

Since the product is used as a component in an entire system, you 

must ensure the safety of persons by means of the design of this 

entire system (for example, machine design). 

Any use other than the use explicitly permitted is prohibited and can 

result in hazards. 

Electrical equipment should be installed, operated, serviced, and 

maintained only by qualified personnel. 

Function blocks 9

1 Before you begin - safety information Lexium Library 

1.3 Hazard categories 

Safety instructions to the user are highlighted by safety alert symbols 

in the manual. In addition, labels with symbols and/or instructions are 

attached to the product that alert you to potential hazards. 

Depending on the seriousness of the hazard, the safety instructions 

are divided into 4 hazard categories. 

DANGER 

DANGER indicates an imminently hazardous situation, which, if not 

avoided, will result in death or serious injury. 

WARNING 

WARNING indicates a potentially hazardous situation, which, if not 

avoided, can result in death, serious injury, or equipment damage. 

CAUTION 

CAUTION indicates a potentially hazardous situation, which, if not 

avoided, can result in injury or equipment damage. 

CAUTION 

CAUTION used without the safety alert symbol, is used to address 

practices not related to personal injury (e.g. can result in equipment 

damage). 


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Lexium Library 1 Before you begin - safety information 

1.4 Basic information 

LOSS OF CONTROL 

WARNING 

• The designer of any control scheme must consider the potential 

failure modes of control paths and, for certain critical functions, 

provide a means to achieve a safe state during and after a path 

failure. Examples of critical control functions are emergency stop, 

overtravel stop, power outage and restart. 

• Separate or redundant control paths must be provided for critical 

functions. 

• System control paths may include communication links. Consideration 

must be given to the implication of unanticipated transmission 

delays or failures of the link. 

• Observe all accident prevention regulations and local safety 

guidelines. 1) 

• Each implementation of the product must be individually and thoroughly 

tested for proper operation before being placed into service. 

Failure to follow these instructions can result in death or serious 

injury. 

1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), “Safety 

Guidelines for the Application, Installation, and Maintenance of Solid State Control” 

and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide 

for Selection, Installation and Operation of Adjustable-Speed Drive Systems”. 

WARNING 

UNINTENDED BEHAVIOR DUE TO IMPROPER ERROR HANDLING 

Improper error handling can change movements or signals or deactivate 

monitoring functions. 

• Carefully program the error handling routines. 

• Verify the effectiveness of error handling. 

Failure to follow these instructions can result in death, serious 

injury or equipment damage. 

WARNING 

UNINTENDED BEHAVIOR DUE TO CHANGES TO THE LIBRARY 

• Do not change or manipulate the library in any way whatsoever. 



Function blocks 11

1 Before you begin - safety information Lexium Library 

1.5 Standards and terminology 

Technical terms, terminology and the corresponding descriptions in 

this manual are intended to use the terms or definitions of the pertinent 

standards. 

In the area of drive systems, this includes, but is not limited to, terms 

such as "safety function", "safe state", "fault", "fault reset", "failure", 

"error", "error message", "warning", "warning message", etc. 

Among others, these standards include: 

• IEC 61800: "Adjustable speed electrical power drive systems" 

• IEC 61158: "Digital data communications for measurement and 

control – Fieldbus for use in industrial control systems" 

• IEC 61784: "Industrial communication networks – Profiles" 

• IEC 61508: "Functional safety of electrical/electronic/programmable 

electronic safety-related systems" 

Also see the glossary at the end of this manual. 


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Lexium Library 2 Lexium Library Guide 

2 Lexium Library Guide 

Library name Lexium Library (LXM) 

Naming conventions 

Simple application 

Categorization of the function 

blocks 

Software environment Devices Fieldbus 

Device Descriptions of version 

3.2 and higher are 

supported. 

LXM05 

SD328 

LXM32 

CANopen 

2 

The function blocks described here are used to control LXM32, 

LXM05 and SD328 drives in CANopen fieldbuses under the SoMachine 

software environment. The function blocks are compliant with 

the IEC 61131-3 standard. 

• Function blocks with the prefix MC_ ("Motion Control") are compliant 

with the PLCopen specifications. They conform to a global 

standard for programming motion control applications. 

• Function blocks without a prefix are vendor-specific (Schneider 

Electric); however, they comply with the general PLC open rules. 

• The function blocks are used in the same way. 

• The function blocks comply with the PLCopen state diagram. 

• The function blocks feature a visualization that can be easily integrated 

into the application. 

• Single axis: These function blocks are used for movements or 

functions of a single, independent axis. 

• Multi axis: These function blocks are used for coordinated movements 

of several axes (for example, Electronic Gear). 

• Motion Sequence: These function blocks are used for movements 

whose target values are contained in parameterizable data sets. 

• Administrative: These function blocks are used for configuration 

tasks (such as reading and writing of parameters, restoring a 

device configuration, etc.). 

• Device Function: These function blocks support you in commissioning 

a drive at a controller. Before these function blocks can be 

used, you must correctly set the communication parameters baud 

rate and node address. 

Function blocks 13

2 Lexium Library Guide Lexium Library 

2.1 PLCopen state diagram 

Error 

MC_MoveAbsolute 

MC_MoveRelative 

MC_MoveSuperImposed 

MC_MoveAdditive 

MC_PositionProfile 

MC_GearIn (Slave) 

MC_CamIn (Slave) 

Done 

At any given point in time, the drive is exactly in one state. If a function 

block is executed or an error occurs, this may cause a state transition. 

The function block "2.10.1.4 MC_ReadStatus_LXM" is used to read 

the current status of the drive. 

Done 




MC_Stop 







MC_MoveVelocity 

MC_GearOut 

MC_CamOut 

MC_VelocityProfile 

MC_AccelerationProfile 





Discrete Motion 




Continuous Motion 






Homing 

MC_Stop 

Error 

MC_Stop 

Error 

MC_Home 



MC_Phasing (Slave) 

MC_MoveSuperImposed (Slave) 

Synchronized 

Motion 

Note 1 

Stopping 

Note 1 

ErrorStop 

MC_Reset 

Error 

StandStill 



Error 

Note 4 

MC_Stop 

Error 




MC_Stop 

Note 3 

Note 2 

Disabled 

Note 1: In the states ErrorStop or Stopping, all function blocks can be 

called, but none of them will be executed, except for 


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2.2 List of the function blocks 

"2.10.5.3 MC_Reset_LXM" and Error. Calling the function block 

"2.10.5.3 MC_Reset_LXM" will cause a transition to the states Stand- 

Still or ErrorStop, respectively. 

Note 2: Power.Enable = TRUE and there is an error 

Note 3: Power.Enable = TRUE and there is no error 

Note 4: "2.7.9.1 MC_Stop_LXM". Done AND NOT 

"2.7.9.1 MC_Stop_LXM" Execute. 

Category Subcategory Function block Type LXM05 SD328 LXM32 

Single axis 

Initialization "2.7.1.1 

MC_Power_LXM" 

Operating mode 

Jog 


Current Control 


Profile Torque 


Speed Control / 

Oscillator 


Profile Velocity 


Profile Position 


Homing 

"2.7.2.1 

MC_Jog_LXM" 

"2.7.3.1 Current- 

Control_LXM" 

"2.7.4.1 MC_TorqueControl_LXM" 

"2.7.5.1 Velocity- 

Control_LXM" 

"2.7.6.1 

MC_MoveVelocity_LXM" 

"2.7.7.1 

MC_MoveAbsolute_LXM" 

"2.7.7.2 

MC_MoveAdditive_LXM" 

"2.7.7.3 MC_MoveRelative_LXM" 

"2.7.8.1 

MC_Home_LXM" 

"2.7.8.2 MC_Set- 

Position_LXM" 

Stopping "2.7.9.1 

MC_Stop_LXM" 

Position capture 

via signal input 

"2.7.9.2 

MC_Halt_LXM" 

"2.7.10.1 

MC_TouchProbe_LXM" 

"2.7.10.2 

MC_AbortTrigger_LXM" 

PLCopen X X X 

PLCopen X X X 

Vendor-specific X - - 

PLCopen - - X 

Vendor-specific X X - 

PLCopen X X X 

PLCopen X X X 

PLCopen X X X 

PLCopen X X X 

PLCopen X X X 

PLCopen X X X 

PLCopen X X X 

PLCopen - - X 

PLCopen X X X 

PLCopen X X X 

Function blocks 15



Multi axis 


Electronic Gear 

"2.8.1.1 GearIn- 

Sync_LXM" 

"2.8.1.2 

MC_GearIn_LXM" 

"2.8.1.3 MC_Gear- 

Out_LXM" 

Vendor-specific X X X 

PLCopen - - X 

PLCopen X X X 


Motion Sequence 


Motion Sequence 

"2.9.1.1 ReadMotionSequenceStatus_LXM" 

"2.9.1.2 ReadDataSet_LXM" 

"2.9.1.3 WriteDataSet_LXM" 

"2.9.1.4 WriteTransitionCondition_LXM" 

"2.9.1.5 StartMotionSequence_LXM" 

"2.9.1.6 AbortMotionSequence_LXM" 

Vendor-specific - - X 







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Administrative 

Reading a parameter 

Writing a parameter 

Saving and restoring 

device configuration 

"2.10.1.1 

MC_ReadActual- 

Torque_LXM" 

"2.10.1.2 


Velocity_LXM" 

"2.10.1.3 


Position_LXM" 

"2.10.1.4 

MC_ReadStatus_LXM" 

"2.10.1.5 

MC_ReadParameter_LXM" 

"2.10.1.6 GetSupplierVersion" 

"2.10.2.1 

MC_WriteParameter_LXM" 

"2.10.2.2 SetDriveRamp_LXM" 

"2.10.2.3 SetStopRamp_LXM" 

"2.10.2.4 SetLimitSwitch_LXM" 

"2.10.2.5 Reset- 

Parameters_LXM" 

"2.10.2.6 Store- 

Parameters_LXM" 

"2.10.3.1 Upload- 

DriveParameter_LXM" 

"2.10.3.2 DownloadDriveParameter_LXM" 

Inputs and outputs "2.10.4.1 ReadAnalogInputs_LXM" 

"2.10.4.2 

MC_ReadDigitalInput_LXM" 

"2.10.4.3 

MC_ReadDigitalOutput_LXM" 

"2.10.4.4 

MC_WriteDigitalOutput_LXM" 

Error handling "2.10.5.1 ReadAxisWarning_LXM" 

"2.10.5.2 

MC_ReadAxisError_LXM" 

PLCopen - - X 

PLCopen X X X 

PLCopen X X X 

PLCopen X X X 

PLCopen X X X 


PLCopen X X X 








Vendor-specific X X - 

PLCopen X X X 

PLCopen X X X 

PLCopen - - X 


PLCopen X X X 

Function blocks 17



"2.10.5.3 

MC_Reset_LXM" 

PLCopen X X X 


Device Function 

Startup "2.11.1.1 

Servo_Startup" 

"2.11.1.2 Stepper_Startup" 

Vendor-specific X - X 

Vendor-specific - X - 


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2.3 Compatibility of the function blocks 

The table below shows the main differences between the previous 

library BL_Motion_CAN_Vyyy.lib (for LXM05 and SD328) and the 

Lexium Library (for LXM05, SD328 and LXM32). 

Function blocks 19


Old function block New function block LXM05 SD328 LXM32 Remarks 

MC_Power_CAN "2.7.1.1 MC_Power_LXM" X X X 

MC_Jog_CAN "2.7.2.1 MC_Jog_LXM" X X X 

CurrentControl_CAN "2.7.3.1 CurrentControl_LXM" 

No equivalent "2.7.4.1 MC_TorqueControl_LXM" 

VelocityControl_CAN "2.7.5.1 VelocityControl_LXM" 

MC_MoveVelocity_CAN "2.7.6.1 MC_MoveVelocity_LXM" 

MC_MoveAbsolute_CAN "2.7.7.1 MC_MoveAbsolute_LXM" 

MC_MoveAdditive_CAN "2.7.7.2 MC_MoveAdditive_LXM" 

MC_MoveRelative_CAN "2.7.7.3 MC_MoveRelative_LXM" 

X X - 

- - X 

X X - 

X X X 

X X X 

X X X 

X X X 

MC_Home_CAN "2.7.8.1 MC_Home_LXM" X X X 

MC_SetPosition_CAN "2.7.8.2 MC_SetPosition_LXM" 

X X X 

MC_Stop_CAN "2.7.9.1 MC_Stop_LXM" X X X 

No equivalent "2.7.9.2 MC_Halt_LXM" - - X 

MC_TouchProbe_CAN "2.7.10.1 MC_TouchProbe_LXM" 

MC_AbortTrigger_CAN "2.7.10.2 MC_AbortTrigger_LXM" 

X X X 

X X X 

MC_GearIn_CAN "2.8.1.1 GearInSync_LXM" X X X This function block 

replaces the function 

block 

MC_GearIn_CAN. 

The functionality 

remains the same 

(position synchronization). 

No equivalent "2.8.1.2 MC_GearIn_LXM" - - X This new function 

block complies with 

the PLCopen specification 

(velocity 

synchronization). 

MC_GearOut_CAN "2.8.1.3 MC_Gear- 

Out_LXM" 

No equivalent "2.9.1.1 ReadMotionSequenceStatus_LXM" 

No equivalent "2.9.1.2 ReadData- 

Set_LXM" 

No equivalent "2.9.1.3 WriteData- 

Set_LXM" 

No equivalent "2.9.1.4 WriteTransition- 

Condition_LXM" 

No equivalent "2.9.1.5 StartMotionSequence_LXM" 

No equivalent "2.9.1.6 AbortMotionSequence_LXM" 

X X X 

- - X 

- - X 

- - X 

- - X 

- - X 

- - X 


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No equivalent "2.10.1.1 MC_ReadActual- 

Torque_LXM" 

MC_ReadActualVelocity_CANReadRefActualVelocity_CANReadActualMasterVelocity_CAN 

MC_ReadActualPosition_CANReadActualPositionInc_CAN 

ReadRefPosition_CAN 

ReadRefPositionInc_CAN 

ReadActualMasterPosition_CAN 

"2.10.1.2 MC_ReadActual- 

Velocity_LXM" 

"2.10.1.3 MC_ReadActual- 

Position_LXM" 

MC_ReadStatus_CAN "2.10.1.4 MC_ReadStatus_LXM" 

MC_ReadParameter_CAN "2.10.1.5 MC_ReadParameter_LXM" 

GetVersion_CAN "2.10.1.6 GetSupplierVersion" 

MC_WriteParameter_CAN "2.10.2.1 MC_WriteParameter_LXM" 

SetDriveRamp_CAN "2.10.2.2 SetDriveRamp_LXM" 

No equivalent "2.10.2.3 SetStopRamp_LXM" 

SetLimitSwitch_CAN "2.10.2.4 SetLimitSwitch_LXM" 

ResetParameters_CAN "2.10.2.5 ResetParameters_LXM" 

StoreParameters_CAN "2.10.2.6 StoreParameters_LXM" 

UploadDriveParameter_CAN 

DownloadDriveParameter_CAN 

"2.10.3.1 UploadDrive- 

Parameter_LXM" 

"2.10.3.2 DownloadDrive- 

Parameter_LXM" 

ReadAnalogInputs_CAN "2.10.4.1 ReadAnalogInputs_LXM" 

MC_ReadDigitalInput_CAN 

MC_ReadDigitalOutput_CAN 

"2.10.4.2 MC_ReadDigitalInput_LXM" 

"2.10.4.3 MC_ReadDigitalOutput_LXM" 

- - X 

X X X The new function 

block allows you to 

read four different 

types of velocities. 

The type is selected 

via the new input 

VelocityType. 

X X X The new function 

block allows you to 

read eight different 

types of positions. 

The type is selected 

via the new input 

PositionType. 

X X X 

X X X 

X X X 

X X X 

X X X New inputs: Type, 

Torque 

- - X 

X X X 

X X X 

X X X 

X X X The interface 

(parameter structure) 

of the function 

block has changed. 

Output: The size 

has been suppressed. 

X X X The interface 

(parameter structure) 

of the function 

block has changed. 

X X - 

X X X 

X X X 

Outputs: Index and 

subindex have been 

suppressed. 

Function blocks 21



No equivalent "2.10.4.4 MC_WriteDigitalOutput_LXM" 

No equivalent "2.10.5.1 ReadAxisWarning_LXM" 

MC_ReadAxisError_CAN "2.10.5.2 MC_ReadAxisError_LXM" 

- - X 

- - X 

X X X New output: 

AxisErrorID 

MC_Reset_CAN "2.10.5.3 MC_Reset_LXM" X X X 

No equivalent "2.11.1.1 Servo_Startup" X - X 

No equivalent "2.11.1.2 Stepper_Startup" - X - 


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2.4 Memory structure during parameter transmission 

Controller 

(LMC20, M238...) 

NV RAM* 

DownloadDriveParameter 

MC_Write... 

Set.... 

Drive 

(LXM32, LXM05...) 

EEPROM 

RAM RAM 

MC_Read... 

UploadDriveParameter 

Factory 

settings 

StoreParameters 

ResetParameters 

Function blocks 23


2.5 Transitions between function blocks 

Function block 2 

The table below shows how the execution of a function block (function 

block 1) can be terminated by another function block (function block 2) 

in the case of LXM32. 

Function block 1 MC_Jog MC_Home MC_MoveAbsolute MC_MoveAdditive MC_MoveRelative 

MC_Jog On the fly Motor standstill Motor standstill 1) Motor standstill 1) Motor standstill 1) 

MC_Home Not permitted 

MC_MoveAbsolute Motor standstill 

MC_MoveAdditive Motor standstill 

MC_MoveRelative Motor standstill 

MC_MoveVelocity Motor standstill 

MC_TorqueControl Motor standstill 

MC_Stop Not permitted 

MC_Halt Not permitted 

GearInSync Motor standstill 

MC_GearIn Motor standstill 

Not permitted Not permitted Not permitted Not permitted 

Motor standstill On the fly On the fly On the fly 



Motor standstill Motor standstill 1) Motor standstill 1) Motor standstill 1) 






1) Firmware version V01.04: Depends on the setting in parameter 

PP_OpmChgType. 


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Function block 2 

Function block 1 MC_MoveVelocity MC_TorqueControl MC_Stop MC_Halt GearInSync MC_GearIn 

MC_Jog On the fly On the fly On the fly On the fly Motor standstill 

MC_Home Not permitted Not permitted On the fly On the fly Not permitted 

MC_MoveAbsolute On the fly On the fly On the fly On the fly Motor standstill 

MC_MoveAdditive On the fly On the fly On the fly On the fly Motor standstill 

MC_MoveRelative On the fly On the fly On the fly On the fly Motor standstill 

MC_MoveVelocity On the fly On the fly On the fly On the fly Motor standstill 

MC_TorqueControl On the fly On the fly On the fly On the fly Motor standstill 

MC_Stop Not permitted Not permitted Not permitted 

Not permitted 

MC_Halt Not permitted Not permitted On the fly Not permitted 

Not permitted 

Not permitted 

On the fly 

Not permitted 

On the fly 

On the fly 

On the fly 

On the fly 

On the fly 

Not permitted 

Not permitted 

GearInSync On the fly On the fly On the fly On the fly On the fly On the fly 

MC_GearIn On the fly On the fly On the fly On the fly Motor standstill 

Example of On the fly 

On the fly 

On the fly The execution of function block 2 is started on the fly, i.e. immediately 

without any delay. The execution of function block 1 is aborted. 

v 

2000 

1000 

0 60 

1 2 

Running function 

block 

MC_MoveAbsolute_LXM 

Position = 100 usr_p, velocity = 1000 usr_v 

New function block MC_MoveVelocity_LXM 

Velocity = 2000 usr_v 

usr_p 

Motor standstill The execution of function block 2 first decelerates the motor to a 

standstill with the adjusted deceleration ramp. The movement as per 

function block 2 starts as soon as the motor has come to a standstill. 

The execution of function block 1 is aborted. 

Function blocks 25


Examples of motor standstill 

v 

2000 

1000 

0 100 400 

1 2 

Running function 

block 

MC_MoveVelocity_LXM 

Velocity = 1000 usr_v 

New function block MC_MoveAbsolute_LXM 

Position = 400 usr_p, velocity = 2000 usr_v 

usr_p 

Not permitted Function block 1 cannot be aborted by the new function block. Function 

block 2 will not be executed. 


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2.6 Basic inputs and outputs 

Input/output Data type Description 

Axis Axis_Ref_LXM Name of the axis (instance) for which the function block is to 

be executed. The name must be declared in the PLC configuration. 

The name of the axis can be found to the left in the tree 

structure of your software. 

Input Input_Ref_LXM Input is a special data type for digital and analog inputs. The 

data type corresponds to the name of the axis (instance) to 

which the inputs belong (similar to Axis). 

In the case of function blocks specifically provided for reading 

analog and digital inputs, Input replaces the input Axis. 

Output Output_Ref_LXM Output is a special data type for digital and outputs. The data 

type corresponds to the name of the axis (instance) to which 

the outputs belong (similar to Axis). 

Input Data type Description 

Enable BOOL Value range: TRUE, FALSE 

Initial value: FALSE 

In the case of function blocks specifically provided for writing 

and reading analog and digital inputs, Output replaces the 

input Axis. 

The input Enable starts or terminates the execution of a function 

block. (exception "2.7.1.1 MC_Power_LXM") 

FALSE: Execution of the function block is terminated. The outputs 

Valid, Busy, CommandAborted and Error are set to 

FALSE. 

TRUE: The function block is executed repeatedly. 

Execute BOOL Value range: TRUE, FALSE 


The input Execute starts the execution of a function block in 

the case of a rising edge (FALSE->TRUE). 

If a second rising edge is detected during the execution of the 

function block, the current execution is aborted and the function 

block is executed again. 

Execution is terminated as soon as the output Busy is FALSE. 

FALSE and, at the same time, Busy = FALSE: 

Either Done, Error or CommandAborted are set to TRUE for 

one call. 

TRUE and, at the same time, Busy = FALSE: 

Either Done, Error or CommandAborted are set to TRUE 

and remain TRUE until Execute is set to FALSE. 

Function blocks 27


Output Data type Description 

Done BOOL Value range: TRUE, FALSE 


FALSE: Execution has not (yet) been terminated without an 

error. 

TRUE: Execution has been completed without an error. 

Valid BOOL Value range: TRUE, FALSE 


Busy BOOL Value range: TRUE, FALSE 


FALSE: Execution has not (yet) been terminated without an 

error. The values at the outputs are not (yet) valid. 

TRUE: Execution has been completed without an error. The 

values at the outputs are valid and can be further processed. 

FALSE: Execution of the function block has been terminated. 

TRUE: Function block is being executed. 

CommandAborted BOOL Value range: TRUE, FALSE 


Error BOOL Value range: TRUE, FALSE 


NOTE: In the operating mode Profile Velocity, the output 

remains TRUE even when the target velocity has been 

reached or Execute becomes FALSE. The output Busy is set 

to FALSE as soon as another function block such as MC_Stop 

is executed. 

FALSE: Execution has not (yet) been canceled without an 

error. 

TRUE: Execution has been aborted by another function block. 

FALSE: Execution of the function block is running, nor error 

has occurred up until now. 

TRUE: An error has occurred in the execution of the function 

block. 


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2.6.1 Signal behavior of function blocks with the input Enable 

Example 1 Single execution without error (execution requires more than one call). 

Enable 

Error 

Valid 

Busy 

Example 2 Single execution with error (execution requires more than one call). 

Enable 

Error 

Valid 

Busy 

Example 3 Single execution without error (execution requires only one call). 

Enable 

Error 

Valid 

Busy 

Example 4 Single execution with error (execution requires only one call). 

Enable 

Function blocks 29 

Error 

Valid 

Busy


Example 5 Repeated execution without error (execution requires more than one 

call). 

Enable 

Error 

Valid 

Busy 

Example 6 Repeated execution with error (execution requires more than one 

call). 

Enable 

Error 

Valid 

Busy 

Example 7 Repeated execution without error (execution requires only one call). 

Enable 

Error 

Valid 

Busy 

Example 8 Repeated execution with error (execution requires only one call). 

Enable 


Error 

Valid 

Busy 

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2.6.2 Signal behavior of function blocks with the input Execute 

Example 1 Execution terminated without error. 

Execute 

Error 

Done 

CommandAborted 

Busy 

Example 2 Execution terminated with error. 

Execute 

Error 

Done 


Busy 

Example 3 Abortion of the execution because another function block takes over 

control. 

Execute 

Error 

Done 



Busy


Example 4 Execution completed without error after Execute has been set to 

FALSE during execution. 

Execute 

Error 

Done 



Busy 

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2.7 Single axis 

2.7.1 Initialization 

2.7.1.1 MC_Power_LXM 

The initialization function block enables or disables the power stage. 

Other function blocks can only be used when the power stage is enabled. 

Function description The function block enables or disables the power stage. TRUE at the 

input Enable enables the power stage. Once the power stage is enabled, 

the output Status is set. FALSE at the input Enable disables 

the power stage. Once the power stage is disabled, the output 

Status is reset. If errors occur during execution, the output Error is 

set. 

Graphical representation 

Axis Axis_Ref_LXM 

Enable BOOL 

Compatible devices LXM05, SD3 and LXM32 

MC_Power_LXM 

Inputs/outputs The table below shows the outputs. 


Status BOOL Value range: FALSE, TRUE 


FALSE: Power stage is disabled. 

TRUE: Power stage is enabled. 

"2.6 Basic inputs and outputs" 

BOOL Status 

BOOL Error 

Notes In the case of a Node Guarding error, the error memory must be reset 

by means of the function block "2.10.5.3 MC_Reset_LXM" before the 

power stage can be enabled again. 

If the input Enable = TRUE, an error is signaled if the power supply is 

lost. 

The output Status is set to FALSE and the output Error to TRUE. 

Once the power supply is available again, the output Status is set 

back to TRUE. 

Function blocks 33


2.7.2 Operating mode Jog 

2.7.2.1 MC_Jog_LXM 

In the operating mode Jog, a movement is made from the actual motor 

position in the desired direction. The velocity can be set. As long as 

the signal for the direction is available, a continuous movement is 

made in the desired direction. 

If movements in positive and negative directions are requested at the 

same time, there is no motor movement. 

Function description The function block starts the operating mode Jog. TRUE at the input 

Forward or the input Backward starts the jog movement. If both the 

inputs Forward and Backward are FALSE, the operating mode is 

terminated and the output Done is set. If both the inputs Forward and 

Backward are TRUE, the operating mode remains active, the jog 

movement is stopped and the output Busy remains set. 



Forward BOOL 

Backward BOOL 

Fast BOOL 

TipPos DINT 

WaitTime INT 

VeloSlow DINT 

VeloFast DINT 


MC_Jog_LXM 

BOOL Done 

BOOL Busy 

BOOL CommandAborted 

BOOL Error 


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Inputs/outputs The table below shows the inputs. 


Forward BOOL Value range: FALSE, TRUE 


FALSE: No movement in positive direction 

TRUE: Movement in positive direction is started. 

Backward BOOL Value range: FALSE, TRUE 


FALSE: No movement in negative direction 

TRUE: Movement in negative direction is started. 

Fast BOOL Value range: FALSE, TRUE 


The velocity can be changed during the movement. 

FALSE: Movement at the velocity set in VeloSlow. 

TRUE: Movement at the velocity set in VeloFast. 

TipPos DINT Value range: 0 ... 2147483647 

Initial value: 20 

WaitTime INT Value range: 0 ... 65535 


VeloSlow DINT Value range: 


VeloFast DINT Value range: 


0: Continuous movement is started immediately. 

>0: Movement by this distance value in increments [inc]. The 

movement is stopped, the waiting time WaitTime starts. After 

the waiting time WaitTime has elapsed, a continuous movement 

is started. 

Waiting time in [ms]. If TipPos is >0, the waiting time 

WaitTime starts as soon as the adjusted distance has been 

covered. After the waiting time WaitTime has elapsed, a continuous 

movement is started. 

Velocity in [min -1 ]. If Fast = FALSE, the movement is made at 

this velocity. 

Velocity in [min -1 ]. If Fast = TRUE, the movement is made at 

this velocity. 


Function blocks 35


2.7.3 Operating mode Current Control 

2.7.3.1 CurrentControl_LXM 

WARNING 

EXCESSIVELY HIGH VELOCITY DUE TO INCORRECT LIMIT VALUE 

Without a proper limit value, the motor can reach a very high velocity 

in this operating mode. 

• Check the parameterized velocity limitation. 



In the operating mode Current Control, you can set a reference value 

for the motor current. On the basis of this reference value, the device 

calculates a current with which the motor accelerates to a velocity limited 

by the load torque. Therefore, without a load, the motor accelerates 

up to the adjustable velocity limit. 

Function description The function block starts the operating mode Current Control. In the 

operating mode Current Control, a reference value for the motor current 

is supplied. The input Interface lets you set the source of the 

reference value. The reference value can be supplied either via the 

input Setpoint or via the analog input ANA1. 


Compatible devices LXM05 


Execute BOOL 

Interface_ BOOL 

ZeroWindow UINT 

MaxCurrent INT 

Setpoint INT 


CurrentControl_LXM 

BOOL VelocityZero 

BOOL Busy 


BOOL Error 


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Interface_ BOOL Value range: FALSE, TRUE 


ZeroWindow UINT Value range: 0 ... 1000 


FALSE: The reference value is supplied via the 10V analog 

input. 

TRUE: The reference value is supplied via the input Setpoint. 

This input is effective only if the input Interface_ has the value 

FALSE. 

If the reference value is supplied via an analog input, you can 

specify a zero voltage window as an absolute value in millivolts. 

Example: ZeroWindow = 20: 

The voltage range -20 mV ... +20 mV is interpreted as 0 mV. 

MaxCurrent INT Value range: -30000 ... +30000 


This input is effective only if the input Interface_ has the value 

FALSE. 

A current limitation [Apk x 100] is set according to the voltage 

at the 10V analog input. 

Setpoint INT Value range: -30000 ... +30000 


This input is only effective if the input Interface_ has the value 

TRUE. 

Current limitation value [Apk x 100]. 

The table below shows the outputs. 


VelocityZero BOOL Value range: FALSE, TRUE 


FALSE: Velocity > 0. 

TRUE: Velocity = 0, motor standstill. 


Notes This function block is not available for LXM32. Use the function block 

"2.7.4.1 MC_TorqueControl_LXM" for LXM32. 

Function blocks 37


2.7.4 Operating mode Profile Torque 

2.7.4.1 MC_TorqueControl_LXM 

WARNING 







You can set a target torque in the operating mode Profile Torque. The 

movement is made with this target torque in the operating mode Profile 

Torque. 

Function description The function block starts the operating mode Profile Torque. In the 

operating mode Profile Torque, a movement is made with a desired 

target torque. The reference value for the target torque is supplied via 

the input Torque. When the target torque is reached, the output 

InTorque is set. The input TorqueRamp lets you set the slope of the 

motion profile for the torque. 




Execute BOOL 

Torque INT 

TorqueRamp DINT 



MC_TorqueControl_LXM 

Torque INT Value range: -30000 ... 30000 


Target torque 

TorqueRamp DINT Value range: 


BOOL InTorque 

BOOL Busy 


BOOL Error 

The value corresponds to 0.1% of the nominal torque of the 

motor. 

The input TorqueRamp is used in the operating mode Profile 

Torque. The value corresponds to 0.1% per second of the 

nominal torque of the motor. Example: If TorqueRamp = 1000, 

then 100% of the nominal torque of the motor is reached in 

one second. Use the parameter _M_M_O to get the nominal torque 

of the motor. 



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InTorque BOOL Value range: FALSE, TRUE 


Notes 

FALSE: Target torque not yet reached 

TRUE: Target torque reached 


• This function block is not available for LXM05. Use the function 

block "2.7.3.1 CurrentControl_LXM" for LXM05. 

• In the operating mode Profile Torque, a position overtravel does 

not trigger an error. A position overtravel results in a loss of the 

zero point. After a position overtravel, an absolute positioning 

movement is still performed, but it is no longer consistent with the 

original homing. You can use the function block 

"2.10.1.4 MC_ReadStatus_LXM" to check whether the drive is still 

homed. 

Function blocks 39


2.7.5 Operating mode Speed Control / Oscillator 

2.7.5.1 VelocityControl_LXM 

You can set a reference velocity in the operating mode Speed Control 

/ Oscillator. The movement is performed with this reference velocity 

in the operating mode Speed Control. 

Function description The function block starts the operating mode Speed Control / Oscillator. 

In the operating mode Speed Control, a movement is made with a 

set target velocity. The target velocity is set at the input Velocity. 

When the motor is at a standstill, VelocityZero is set. 



Execute BOOL 

Interface_ BOOL 

ZeroWindow UINT 

MaxVelocity INT 

Setpoint INT 

Compatible devices LXM05 and SD3 



VelocityControl_LXM 

Interface_ BOOL Value range: FALSE, TRUE 

Initial value: 

ZeroWindow UINT Value range: 0 ... 1000 


BOOL VelocityZero 

BOOL Busy 


BOOL Error 

FALSE: The reference value is supplied via the analog input. 

TRUE: Reference value is supplied via the input Setpoint. 

Zero voltage window at analog input in mV. Example: If the 

value is 20, the range -20 ... 20 mV is interpreted as 0. 

MaxVelocity INT Value range: -30000 ... 30000 


Setpoint INT Value range: -30000 ... 30000 


The value is only considered if the input Interface is 

FALSE. The value specifies the maximum speed of rotation 

(ANA1 = 10V) in min -1 . Adapt the value to your motor and the 

mechanical situation. 

The value is only considered if the input Interface is TRUE. 

The value specifies the reference value for the speed of rotation 

in min -1 . 



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VelocityZero BOOL Value range: FALSE, TRUE 


FALSE: The motor is not at a standstill. 

TRUE: The motor is at a standstill. 


Notes In the operating mode Speed Control / Oscillator, a position overtravel 

does not trigger an error. A position overtravel results in a loss of the 

zero point. 

Function blocks 41


2.7.6 Operating mode Profile Velocity 

2.7.6.1 MC_MoveVelocity_LXM 

You can set a target velocity in the operating mode Profile Velocity. 

The movement is performed with this target velocity in the operating 

mode Profile Velocity. The movement continues until a new target 

velocity is set or until the operating mode is aborted. 

Transitions between two target velocities are performed on the basis 

of a motion profile. The motion profile is determined by the profile generator 

in the drive on the basis of the actual velocity, the target velocity 

and the acceleration and deceleration ramps. 

Function description The function block starts the operating mode Profile Velocity with the 

velocity Velocity. When the target velocity is reached, InVelocity 

is set. 



Execute BOOL 

Velocity DINT 




Velocity DINT Value range: 


Target velocity 

MC_MoveVelocity_LXM 



InVelocity BOOL Value range: FALSE, TRUE 


FALSE: Target velocity not yet reached. 

TRUE: Target velocity reached. 


BOOL InVelocity 

BOOL Busy 


BOOL Error 

Notes In the operating mode Profile Velocity, a position overtravel does not 

trigger an error. A position overtravel results in a loss of the zero point. 


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2.7.7 Operating mode Profile Position 

2.7.7.1 MC_MoveAbsolute_LXM 

The following settings can be made in the operating mode Profile 

Position: 

• Target position 

• Type of movement (relative movement or absolute movement) 

• Target velocity 

• Acceleration and deceleration ramps 

The movement to the target position is made on the basis of a motion 

profile. The motion profile is calculated by the profile generator in the 

drive. The calculation is performed on the basis of the actual position 

and the target position, the actual velocity and the target velocity and 

the acceleration and deceleration ramps. 

In the operating mode Profile Position, absolute movements, relative 

movements and additive movements are possible. 

• Absolute movement with reference to the zero point 

• Relative movement with reference to the actual position 

• Additive movement with reference to the previous target position 

A zero point must be defined with the operating mode Homing prior to 

the first absolute movement. 

Function description The function block starts a movement to the absolute target position 

Position at velocity Velocity. 



Execute BOOL 

Position DINT 

Velocity DINT 




Position DINT Value range: 


MC_MoveAbsolute_LXM 

Target position absolute: 



Target velocity value 

LXM32: 1 ... 2147483647 [usr v] 

LXM05 and SD328: 1 ... 13200 [min -1 ] 


BOOL Done 

BOOL Busy 


BOOL Error 

Function blocks 43


Notes 

2.7.7.2 MC_MoveAdditive_LXM 

• Absolute positioning requires a valid zero point. You can use the 

function block "2.10.1.4 MC_ReadStatus_LXM" to check for a valid 

zero point. 

Function description The function block starts a movement to the original target position 

plus distance Distance at velocity Velocity. 



Execute BOOL 

Distance DINT 

Velocity DINT 




Distance DINT Value range: 




2.7.7.3 MC_MoveRelative_LXM 

MC_MoveAdditive_LXM 

BOOL Done 

BOOL Busy 


BOOL Error 

Target position relative with reference to the previous target 

position 



Function description The function block starts a movement by distance Distance at velocity 

Velocity. 



Execute BOOL 

Distance DINT 

Velocity DINT 



MC_MoveRelative_LXM 

BOOL Done 

BOOL Busy 


BOOL Error 


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Distance DINT Value range: 




Target position relative with reference to actual position 



Function blocks 45


2.7.8 Operating mode Homing 

2.7.8.1 MC_Home_LXM 

The operating mode Homing is used to define a reference point. The 

reference point establishes an absolute position reference between 

the motor position and a defined axis position. The reference point 

can be defined by means of a reference movement or by means of 

position setting. 

• Reference movement: Movement to a limit switch, a reference 

switch or the index pulse of the motor encoder. When the position 

is reached, a position reference is automatically created. This position 

becomes the absolute user-defined position. 

• Position setting: The current motor position is set to a desired position 

value. The zero point is defined by the position value. 

Position setting is only possible when the motor is at a standstill. 

The operating mode Homing must be completed without an error for 

the new reference point to be valid. 

Function description The function block configures and starts a reference movement. 



Execute BOOL 

Position DINT 

HomingMode UINT 

VHome DINT 

VOutHome DINT 

POutHome DINT 

PDisHome DINT 



MC_Home_LXM 

BOOL Done 

BOOL Busy 


BOOL Error 


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Position DINT Value range: -2147483648 ... 2147483647 


HomingMode UINT Value range: 


VHome DINT Value range: 


HomingMode 1 ... 8: Position at reference point 

HomingMode 9: Position for Position Setting 

1: LIMN with index pulse 

2: LIMP with index pulse 

7: REF+ with index pulse, inverted, outside 

8: REF+ with index pulse, inv., inside 

9: REF+ with index pulse, not inv., inside 

10: REF+ with index pulse, not inv., outside 

11: REF- with index pulse, inv., outside 

12: REF- with index pulse, inv., inside 

13: REF- with index pulse, not inv., inside 

14: REF- with index pulse, not inv., outside 

17: LIMN 

18: LIMP 

23: REF+, inv., outside 

24: REF+, inv., inside 

25: REF+, not inv., inside 

26: REF+, not inverted, outside 

27: REF-, inv., outside 

28: REF-, inv., inside 

29: REF-, not inv., inside 

30: REF-, not inverted, outside 

33: Index pulse in negative direction 

34: Index pulse in positive direction 

35: Position setting 

Target velocity for searching the switch. 

HomingMode 1 ... 34 only. 

VOutHome DINT Value range: 


Target velocity for moving away from switch. 

POutHome DINT Value range: 0 ... 2147483647 


Maximum distance for search for switching point. 

0: Search distance monitoring disabled 

>0: Maximum distance 

After detection of the switch, the drive starts to search for the 

defined switching point. If the defined switching point is not 

found within the distance defined here, the reference movement 

is canceled with an error. 

PDisHome DINT Value range: 0 ... 2147483647 


Maximum search distance after overtravel of switch. 

0: Search distance monitoring disabled 

>0: Search distance 

The switch must be activated again within this search distance, 

otherwise the reference movement is cancelled. 


Function blocks 47


2.7.8.2 MC_SetPosition_LXM 

Function description This function block sets a position value at the actual position of the 

motor. The zero point is defined by the position value. The function 

block can only be used when the motor is at a standstill. 



Execute BOOL 

Position DINT 

Mode BOOL 




MC_SetPosition_LXM 

Position DINT Value range: -2147483648 ... 2147483647 


Value for position setting in [usr]. 

Mode BOOL Value range: FALSE, TRUE 


BOOL Done 

BOOL Busy 

BOOL Error 

FALSE: The actual position is set to the value of the input 

Position. 

TRUE: The value of the input Position is added to the actual 

position. 



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2.7.9 Stopping 

2.7.9.1 MC_Stop_LXM 

Each operating mode can be canceled by stopping. Stopping the 

operating mode does not generate an error. 

Function description The function block is used to stop the current movement. The operating 

mode is stopped by the function block. 


2.7.9.2 MC_Halt_LXM 


Execute BOOL 


Inputs/outputs "2.6 Basic inputs and outputs" 

Notes 

MC_Stop_LXM 

• LXM05 and SD328: 

The deceleration ramp is set with the function block 

"2.10.2.2 SetDriveRamp_LXM". 

BOOL Done 

BOOL Busy 

BOOL Error 

LXM32: 

The deceleration ramp is set with the function block 

"2.10.2.3 SetStopRamp_LXM". 

• The function block can only be interrupted by disabling the power 

stage via the function block "2.7.1.1 MC_Power_LXM". 

• As long as the input Execute is TRUE, no other function block 

with the exception of "2.7.1.1 MC_Power_LXM" can be started. 

Function description The function block is used to stop the motor under normal operating 

conditions. The current movement is interrupted; it can be resumed. If 

a Halt is triggered, there is a transition of the PLCopen state to "DiscreteMotion" 

until the motor has reached a standstill. Once the motor 

has reached a standstill, the output Done is set and the state transitions 

to "StandStill". 




Execute BOOL 


MC_Halt_LXM 

BOOL Done 

BOOL Busy 


BOOL Error 

Function blocks 49


Notes 

• The deceleration ramp is set in the function block 



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2.7.10 Position capture via signal input 

2.7.10.1 MC_TouchProbe_LXM 

Position capture via a signal input captures the current position at the 

point in time at which an edge is detected at one of the digital Capture 

inputs. 

Settings: 

• Position capture can be triggered by a rising edge or a falling edge 

at the signal input. 

• It is possible to use one-time or continuous position capture. 

Function description The function block configures and starts position capture. 



Execute BOOL 

Unit UINT 

TriggerLevel BOOL 

SingleShot BOOL 




Unit UINT Value range: 1 ... 2 


MC_TouchProbe_LXM 

BOOL Done 

BOOL Busy 


BOOL Error 

BOOL Valid 

DINT RecordedPosition 

1: Start position capture via Capture input 1. 

2: Start position capture via Capture input 2. 

TriggerLevel BOOL Value range: FALSE, TRUE 


FALSE: Start position capture at falling edge. 

TRUE: Start position capture at rising edge. 

SingleShot BOOL Value range: FALSE, TRUE 

Initial value: TRUE 

FALSE: Set continuous position capture. Continuous capture 

means that the motor position is captured anew at every edge. 

The previously captured value is lost. 

TRUE: Sets one-time position capture. One-time capture 

means that the position is captured at the first edge. The capture 

value is not overwritten by a new edge. 



RecordedPosition DINT Value range: -2147483648 ... 2147483647 


Captured motor position 


Function blocks 51


2.7.10.2 MC_AbortTrigger_LXM 

Function description The function block is used to terminate position capture. 



Execute BOOL 

Unit UINT 




Unit UINT Value range: 1 ... 2 


MC_AbortTrigger_LXM 

1: Cancel position capture via Capture input 1. 

2: Cancel position capture via Capture input 2. 


BOOL Done 

BOOL Busy 

BOOL Error 


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2.8 Multi axis 

2.8.1 Operating mode Electronic Gear 

2.8.1.1 GearInSync_LXM 

In the operating mode Electronic Gear, movements are carried out 

according to externally supplied reference value signals. A new position 

reference value is calculated on the basis of these reference 

value signals plus an adjustable gear ratio. 

Function description The function block starts the operating mode Electronic Gear with the 

method Position Synchronization. In the operating mode Electronic 

Gear, movements are carried out according to externally supplied reference 

value signals. A new position value is calculated on the basis 

of these reference value signals plus an adjustable gear ratio. 

In the case of position synchronization without compensation movement, 

the movement is made synchronously (position synchronicity) 

with the supplied reference value signals. Reference value signals 

supplied during an interruption caused by Halt or by an error of error 

class 1 are not considered. 

In the case of position synchronization with compensation movement, 

the movement is made synchronously (position synchronicity) with the 

supplied reference value signals. Reference value signals supplied 

during an interruption caused by Halt or by an error of error class 1 

are considered and compensated for. See the product manual for 

additional information on compensation movements. 


Slave Axis_Ref_LXM 

Execute BOOL 

SyncMode BOOL 

RatioNumerator DINT 

RatioDenominator DINT 


GearInSync_LXM 

Inputs/outputs The table below shows the inputs/outputs. 


Slave Axis_Ref_LXM Value range: 


Name of the slave axis 

The table below shows the inputs. 

BOOL InGear 

BOOL Busy 


BOOL Error 

Function blocks 53



SyncMode BOOL Value range: FALSE, TRUE 

Initial value: TRUE 

FALSE: Position synchronization without compensation movement. 

TRUE: Position synchronization with compensation movement 

RatioNumerator DINT Value range: -2147483648 ... 2147483647 


Numerator of gear ratio 

RatioDenominator DINT Value range: 1 ... 32767 


Denominator of gear ratio 



InGear BOOL Value range: FALSE, TRUE 


2.8.1.2 MC_GearIn_LXM 

Notes 

TRUE: The output is set to TRUE if the adjusted gear ratio is 

reached for the first time in the operating mode Electronic 

Gear. 


• This requires the parameter GEARratio to be 0 (see product manual). 

This way, RatioNumerator and RatioDenominator are 

used to calculate the gear ratio. 

• The velocity of the compensation movement (SyncMode = TRUE) 

is limited by: 

- the maximum current (parameter CTRL_I_max). 

- Maximum velocity of the motor. 

• The enabled direction of movement in the operating mode Electronic 

Gear is set via the parameter GEARdir_enabl. 

• The operating mode Electronic Gear with the method Velocity Synchronization 

is started with the function block 

"2.8.1.2 MC_GearIn_LXM". 

• Once the operating mode is active, the compensation movement 

must not exceed the maximum permissible position deviation. If the 

required compensation movement exceeds the maximum permissible 

position deviation, a following error is signaled. 

Function description The function block starts the operating mode Electronic Gear with the 

method Velocity Synchronization. In the operating mode Electronic 

Gear, movements are carried out according to externally supplied reference 

value signals. A new velocity value is calculated on the basis 

of these reference value signals plus an adjustable gear ratio. Reference 

value signals supplied during an interruption caused by Halt or 

by an error of error class 1 are not considered. 


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Execute BOOL 

RatioNumerator DINT 

RatioDenominator DINT 

MC_GearIn_LXM 





BOOL InGear 

BOOL Busy 


BOOL Error 

Name of the slave axis for which this function block is to be 

executed. This name must be declared in the PLC configuration. 

In the configuration, the name can be found next to the 

appropriate CANopen node. 



RatioNumerator DINT Value range: -2147483648 ... 2147483647 


Gear ratio: Numerator of gear ratio 

RatioDenominator DINT Value range: 1 ... 32767 


Gear ratio: Denominator of gear ratio 



InGear BOOL Value range: FALSE, TRUE 


Notes 

The output is set to TRUE if the adjusted gear ratio is reached 

for the first time. 


• This requires the parameter GEARratio to be 0 (see product manual). 

This way, RatioNumerator and RatioDenominator are 

used to calculate the gear ratio 

• The enabled direction of movement in the operating mode Electronic 

Gear is set via the parameter GEARdir_enabl. 

• The operating mode Electronic Gear with the method Position Synchronization 

is started with the function block 

"2.8.1.1 GearInSync_LXM". 

• In the operating mode Electronic Gear with the method Velocity 

Synchronization, a position overtravel does not trigger an error. A 

position overtravel results in a loss of the zero point. 

Function blocks 55


2.8.1.3 MC_GearOut_LXM 

Function description The function block terminates the operating mode Electronic Gear. 



Execute BOOL 


MC_GearOut_LXM 





Notes 

Name of the slave axis 


BOOL Done 

BOOL Busy 

BOOL Error 

• The function block terminates the operating mode Electronic Gear. 

• The motor decelerates with the deceleration ramp 



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2.9 Motion Sequence 

2.9.1 Operating mode Motion Sequence 

2.9.1.1 ReadMotionSequenceStatus_LXM 

In the operating mode Motion Sequence, movements are performed 

via parameterizable data sets. These parameterizable data sets can 

be started individually or as a sequence. A parameterizable data set 

contains settings on the type of data set, the appropriate target values 

and the setting for the subsequent data set. 

Function description The function block returns the current status of the operating mode 

Motion Sequence. 




Enable BOOL 

ReadMotionSequenceStatus_LXM 



BOOL Valid 

BOOL Busy 

BOOL Error 

INT ActualDataSet 

INT NextDataSet 

ActualDataSet INT The output indicates the data set number of the active data 

set. 

NextDataSet INT The output indicates the number of the next data set to be processed 

in the sequence. 

2.9.1.2 ReadDataSet_LXM 


Function description The function block reads the current data set in the operating mode 





DataSet DataSet_LXM 

Execute BOOL 

ReadDataSet_LXM 


BOOL Done 

BOOL Busy 

BOOL Error 

Function blocks 57



DataSet DataSet_LXM The data type has the following structure: 

2.9.1.3 WriteDataSet_LXM 

DataSetNumber, DataSetType, Value1, Value2, Value3, 

Value4, Transition, NextCondition, WaitTime and NextDataSet. 


Function description The function block configures a data set for the operating mode 





Execute BOOL 

DataSet DataSet_LXM 



WriteDataSet_LXM 

DataSet DataSet_LXM The data type has the following structure: 

2.9.1.4 WriteTransitionCondition_LXM 

BOOL Done 

BOOL Busy 

BOOL Error 

DataSetNumber, DataSetType, Value1, Value2, Value3, 

Value4, Transition, NextCondition, WaitTime and NextDataSet. 


Function description The function block meets the transition condition (NextCondition = 2) 

for the next data set in the operating mode Motion Sequence. 




Execute BOOL 


2.9.1.5 StartMotionSequence_LXM 

WriteTransitionCondition_LXM 

BOOL Done 

BOOL Busy 

BOOL Error 

Function description The function block starts and monitors the operating mode Motion 

Sequence. 


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Execute BOOL 

DataSetNumber INT 



DataSetNumber INT Value range: 


StartMotionSequence_LXM 

BOOL Done 

BOOL Busy 


BOOL Error 

BOOL WaitForCondition 

The input specifies the number of the data set to be used for 

starting a sequence. 



WaitForCondition BOOL Value range: FALSE, TRUE 


2.9.1.6 AbortMotionSequence_LXM 

The output indicates that the data set has been completed and 

that the sequence is waiting for the transition condition to be 

met. Once the transition condition is met, the subsequent data 

set started. 


Function description The function block cancels a sequence in the operating mode Motion 

Sequence. 




Execute BOOL 


AbortMotionSequence_LXM 

BOOL Done 

BOOL Busy 

BOOL Error 

Function blocks 59


2.10 Administrative 

2.10.1 Reading a parameter 

2.10.1.1 MC_ReadActualTorque_LXM 

The following functions blocks allow you to read drive parameters 

such as the actual position or the actual velocity. 

An additional function block provides read access to individual parameters 

of the device. See the product manual for a description of the 

parameters. 

Function description The function block is used to read the actual torque of the motor. 




Enable BOOL 

MC_ReadActualTorque_LXM 



Torque INT Value range: 


2.10.1.2 MC_ReadActualVelocity_LXM 

Actual torque value. 

BOOL Valid 

BOOL Busy 

BOOL Error 

INT Torque 

100.0 % correspond to the continuous stall torque _M_M_0. 

The read value is indicated in increments of 0.1 %. 

Example: The value Torque = 300 is read. This means that 

currently effective torque amounts to 30 % of the nominal torque 

of the motor. 


Notes The function block uses Service Data Objects (SDO) to read the 

parameter. Therefore, it is strongly recommended not to permanently 

set the input Enable to TRUE. This may cause overload on the fieldbus. 

It is recommended to deactivate the function block when the 

input Busy is set to FALSE. 

Function description The function block is used to read the actual velocity of the motor. 


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Enable BOOL 

VelocityType INT 




VelocityType INT Value range: 0 ... 3 


MC_ReadActualVelocity_LXM 

Specification of the source of the velocity: 

BOOL Valid 

BOOL Busy 

BOOL Error 

DINT Velocity 

• 0: Actual velocity of the motor [min -1 ] 

• 1: Reference velocity (from profile generator) [min -1 ] 

• 2: Actual velocity (from profile generator) [min -1 ] 

• 3: Actual velocity at PTI interface [inc/s] 

NOTE: The PTI interface (Pulse Train In) is also referred to as 

RS422 interface in the case of some products. LXM05 and 

SD328: the PTI interface is CN5. 





2.10.1.3 MC_ReadActualPosition_LXM 

Velocity value of the source selected for the input 

VelocityType. 



parameter from the device. Therefore, it is strongly recommended not 

to permanently set the input Enable to TRUE. This may cause overload 

on the fieldbus. It is recommended to deactivate the function 

block when the output Busy is set to FALSE. 

Function description The function block is used to read the actual velocity of the motor. 



Enable BOOL 

PositionType INT 



MC_ReadActualPosition_LXM 

BOOL Valid 

BOOL Busy 

BOOL Error 

DINT Position 

Function blocks 61



PositionType INT Value range: 0 ... 7 


Specification of the source of the position: 

• 0: Actual position of motor [usr] 

• 1: Actual position of motor [inc] 

• 2: Reference position (from profile generator) [usr] 

• 3: Reference position (from profile generator) [inc] 

• 4: Actual position of an external encoder [usr] 

• 5: Actual position of an external encoder [inc] 

• 6: Actual position (from profile generator) [usr] 

• 7: Actual position (from profile generator) [inc] 



Position DINT Value range: 


2.10.1.4 MC_ReadStatus_LXM 

Position value of the source selected for the input 

PositionType. 






block when the input Busy is set to FALSE. 

Function description The function block is used to read the current status of the device. 



Enable BOOL 


MC_ReadStatus_LXM 

BOOL Valid 

BOOL Busy 

BOOL Error 

BOOL Errorstop 

BOOL Disabled 

BOOL Stopping 

BOOL Referenced 

BOOL StandStill 

BOOL DiscreteMotion 

BOOL ContinuousMotion 

BOOL SynchronizedMotion 

BOOL Homing 

BOOL DataSetMotion 

BOOL ConstantVelocity 

BOOL Accelerating 

BOOL Decelerating 


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Errorstop BOOL Value range: FALSE, TRUE 


Disabled BOOL Value range: FALSE, TRUE 


TRUE: The movement has been interrupted by an error. 

FALSE: Power stage is enabled. 

TRUE: Power stage is disabled 

Stopping BOOL Value range: FALSE, TRUE 


Referenced BOOL Value range: FALSE, TRUE 


TRUE: The function block "2.7.9.1 MC_Stop_LXM" is being 

executed or the movement is being stopped. 

TRUE: The zero point (reference point) is valid. 

StandStill BOOL Value range: FALSE, TRUE 


TRUE: The movement hast been stopped. 

DiscreteMotion BOOL Value range: FALSE, TRUE 


ContinuousMotion BOOL Value range: FALSE, TRUE 


SynchronizedMotio 

n 

BOOL Value range: FALSE, TRUE 


Homing BOOL Value range: FALSE, TRUE 


TRUE: The operating mode Profile Position has been started. 

TRUE: The operating mode Profile Velocity has been started. 

TRUE: A synchronized movement at a constant velocity is performed. 

(for example, in the operating mode Electronic Gear) 

TRUE: The operating mode Homing has been started. 

DataSetMotion BOOL Value range: FALSE, TRUE 


ConstantVelocity BOOL Value range: FALSE, TRUE 


TRUE: The operating mode Motion Sequence has been started. 

TRUE: A movement at a constant velocity is performed. 

Accelerating BOOL Value range: FALSE, TRUE 


TRUE: The motor accelerates. 

Decelerating BOOL Value range: FALSE, TRUE 


TRUE: The motor decelerates. 


Notes At any given point in time, the drive is in one of the states: StandStill, 

DiscreteMotion, ContinuousMotion, Stopping, Disabled or ErrorStop. 

The corresponding output is then TRUE. 

Function blocks 63


2.10.1.5 MC_ReadParameter_LXM 

Function description The function block reads an object from the device parameter list. 



Enable BOOL 

ParameterNumber UINT 

Index UINT 

Subindex UINT 


MC_ReadParameter_LXM 

BOOL Valid 

BOOL Busy 

BOOL Error 

DINT Value 

UINT Length 


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ParameterNumber UINT Value range: 0 ... 65535 


Number of the parameter: 

1: Reference position (from profile generator). 

LXM32: _p_tarRAMPusr 

LXM05, SD328: _p_tarRAMPusr 

2: Positive position limit of software limit switch. 

LXM32: MON_swLimPusr 

LXM05, SD328: SPVswLimPusr 

3: Negative position limit of software limit switch. 

LXM32: MON_swLimNusr 

LXM05, SD328: SPVswLimNusr 

4: Monitoring of the positive software limit switch. 

(Activated: Bit 0 = 0. Deactivated: Bit 0 = 1) 

LXM32: MON_SW_Limits 

LXM05, SD328: SPV_SW_Limits 

5: Monitoring of the negative software limit switch. 

(Activated: Bit 0 = 0. Deactivated: Bit 0 = 1). 

LXM32: MON_SW_Limits 

LXM05, SD328: SPV_SW_Limits 

10: Actual velocity. 

LXM32: _n_act 

LXM05, SD328: _n_act 

11: Target velocity. 

LXM32: _v_targetRAMP 

LXM05, SD328: _n_targetRAMP 

1000: Selection via index and subindex. 

Index UINT Value range: 0 ... 65535 


Subindex UINT Value range: 0 ... 255 


Index of parameter to be read. Only valid if 

ParameterNumber = 1000. 

See the product manual for an overview of the parameters. 

Subindex of parameter to be read. Only valid if 

ParameterNumber = 1000. 

See the product manual for an overview of the parameters. 



Value DINT Value range: -2147483648 ... 2147483647 


Value of the parameter. 

Length INT Value range: 0 ... 65535 


Length of the parameter in bytes. 


Function blocks 65


2.10.1.6 GetSupplierVersion 



set the input Enable to TRUE. This may cause overload on the fieldbus. 

It is recommended to deactivate the function block when the 

input Busy is set to FALSE. 

Function description The function returns the version of the library of the device. 



GetSupplierVersion 



GetSupplierVersio 

n 

WORD GetSupplierVersion 

WORD The output provides the version number of the library. Convert 

the decimal value to hex. 

Example: GetSupplierVersion = 12368 = 3050h = Version 

3.0.5.0 


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2.10.2 Writing a parameter 

2.10.2.1 MC_WriteParameter_LXM 

The following function bocks allow you to write drive parameters, for 

example the values for the acceleration and deceleration ramps. 

An additional function block provides write access to individual parameters 

of the device. See the product manual for a description of the 

parameters. 

Function description The function block is used to write a value to a specific parameter. 



Execute BOOL 

ParameterNumber UINT 

Index UINT 

Subindex UINT 

Length UINT 

Value DINT 


MC_WriteParameter_LXM 

BOOL Done 

BOOL Busy 

BOOL Error 

Function blocks 67




ParameterNumber UINT Value range: 0 ... 65535 


Index UINT Value range: 0 ... 65535 


Subindex UINT Value range: 0 ... 255 


Length UINT Value range: 0 ... 65535 


2: Position of the software limit switch in positive direction 

(Value in [usr]) 

3: Position of the software limit switch in negative direction 

(Value in [usr]) 

4: Activate (Value = 1) or deactivate (Value = 2) software 

limit switch in positive direction 

5: Activate (Value = 1) or deactivate (Value = 2) software 

limit switch in negative direction 

1000: The parameter to be written is set via the inputs Index 

and SubIndex. 

See the product manual for a list of the parameters with the 

corresponding CANopen address. 

Index of the parameter to be written. See the product manual 

for a list of the parameters with index and subindex. Can only 

be used if the input ParameterNumber = 1000. 



Subindex of the parameter to be written. See the product manual 

for a list of the parameters with index and subindex. Can 

only be used if the input ParameterNumber = 1000. 



Length of the parameter to be written in bytes. 

Value DINT Value range: -2147483648...2147483647 


2.10.2.2 SetDriveRamp_LXM 

New value to be written to the parameter. The units of the values 

depend on the parameter. 


Notes If the inputs ParameterNumber, Index or Subindex are changed 

while Busy is TRUE, the function block uses the previous values. The 

next time the function block is executed, the new values will be used. 

Function description The function block configures the acceleration ramp and the deceleration 

ramp of the device. 


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Execute BOOL 

Acceleration DINT 

Deceleration DINT 




SetDriveRamp_LXM 

Acceleration DINT LXM05: 

Value range: 30 ... 3000000 


SD328: 

Value range: 1 ... 3000000 


LXM32: 

Value range: 1 ... 2147483647 


BOOL Done 

BOOL Busy 

BOOL Error 

LXM05 and SD328: Acceleration ramp in min -1 /s. 

LXM32: Acceleration ramp in user-defined units (usr_a). 

Deceleration DINT LXM05: 

Value range: 750 ... 3000000 


SD328: 

Value range: 1 ... 3000000 


LXM32: 

Value range: 1 ... 2147483647 


2.10.2.3 SetStopRamp_LXM 

LXM05 and SD328: Deceleration ramp in min -1 /s. 

LXM32: Deceleration ramp in user-defined units (usr_a). 


Notes Note the following for drives with high external moments of inertia or 

for highly dynamic applications: The motors regenerate energy during 

deceleration. The DC bus can absorb a limited amount of energy in 

the capacitors. Connecting additional capacitors to the DC bus increases 

the amount of energy that can be absorbed. If the capacity of the 

capacitors is exceeded, the excess energy must be discharged via 

internal or external braking resistors. If the energy is not discharged, 

an overvoltage monitor will shut off the power stage. Overvoltages can 

be limited by adding a braking resistor with a corresponding braking 

resistor controller. This converts the regenerated energy to heat 

energy during deceleration. 

Function description This function block is used to set the deceleration ramp for the function 

block "2.7.9.1 MC_Stop_LXM". 

Function blocks 69





Execute BOOL 

RampType BOOL 

Value DINT 



SetStopRamp_LXM 

RampType BOOL Value range: FALSE, TRUE 


BOOL Done 

BOOL Busy 

BOOL Error 

FALSE: MC_Stop_LXM is decelerated with a deceleration 

ramp. 

TRUE: MC_Stop_LXM is decelerated with a torque ramp. 

Value DINT The value depends on the adjusted ramp (RampType). 

2.10.2.4 SetLimitSwitch_LXM 

RampType = FALSE: 

Value range: 200 ... 2147483647 


The value corresponds to the device parameter 

RAMPquickstop; it is specified in the unit [usr_a]. See the 

product manual for additional information on this parameter. 

RampType = TRUE: 

Value range: 1 ... 30000 


The value corresponds to the device parameter 

LIM_I_maxQSTP; it is specified in the unit [Arms]. See the 

product manual for additional information on this parameter. 


Notes "2.10.2.3 SetStopRamp_LXM" also modifies the deceleration ramp for 

"Quick Stop". 

Function description This function block is used to parameterize the positive limit switch 

(LIMP) and the negative limit switch (LIMN). 



Execute BOOL 

LimitSwitch INT 

Mode INT 



SetLimitSwitch_LXM 

BOOL Done 

BOOL Busy 

BOOL Error 


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LimitSwitch INT Value range: 1 ... 2 


Mode INT Value range: 0 ... 2 


2.10.2.5 ResetParameters_LXM 

1: Limit switch in positive direction of movement LIMP 

2: Limit switch in negative direction of movement LIMN 

0: Deactivate limit switch 

1: Activate limit switch as normally closed contact (NCC) 

2: Activate limit switch as normally open contact (NOC) 


Notes The function block can only be executed if the drive is in the operating 

state 3 Switch On Disabled (operating state of drive). 

Function description This function block restores all parameters to the factory settings. 



Execute BOOL 


2.10.2.6 StoreParameters_LXM 


ResetParameters_LXM 

Notes Observe the information provided in chapter . 

BOOL Done 

BOOL Busy 

BOOL Error 

• The function block can only be executed if the drive is in the operating 

state 3 Switch On Disabled (operating state of drive). To transition 

to this state, disable the power stage with the function block 

"2.7.1.1 MC_Power_LXM". 

• All parameters are restored to the factory settings with the exception 

of: 

- Communication parameters 

- Inversion of direction 

- Signal type PTI interface 

- Start-up operating mode 

- Encoder simulation settings 

- Functions of the digital inputs and outputs 

• The new settings are not saved to the EEPROM. Use 

"2.10.2.6 StoreParameters_LXM" to save the new settings to the 

EEPROM. 

Function description The function block saves the parameter values to the EEPROM. 

Function blocks 71




Execute BOOL 



StoreParameters_LXM 

BOOL Done 

BOOL Busy 

BOOL Error 


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2.10.3 Saving and restoring device configuration 

2.10.3.1 UploadDriveParameter_LXM 

Using a function block, you can upload the device configuration from 

the drive to the controller. A further function block lets you download a 

device configuration stored on the controller to a drive. 

Function description The function blocks reads the parameter values that can be modified 

from the device. See also "2.10.3.2 DownloadDriveParameter_LXM". 


UploadDriveParameter_LXM 


Parameters DriveParameters_LXM 

Execute BOOL 




Parameters DriveParameters_LXM Value range: 


Notes 

2.10.3.2 DownloadDriveParameter_LXM 

List of the device parameters. 


BOOL Done 

BOOL Busy 

BOOL Error 





• The two function blocks "2.10.3.2 DownloadDriveParameter_LXM" 

and "2.10.3.1 UploadDriveParameter_LXM" allow you to save the 

parameters stored in a device to an identical device without using 

the commissioning software. 

Function description The function blocks writes the parameter values that can be modified 

to the device. Before calling the function block, you must execute 

"2.10.3.1 UploadDriveParameter_LXM". If not, an error message will 

be generated. 


DownloadDriveParameter_LXM 


Parameters DriveParameters_LXM 

Execute BOOL 


BOOL Done 

BOOL Busy 

BOOL Error 

Function blocks 73




Parameters DriveParameters_LXM List of device parameters 

Notes 






• In order to permanently store the parameters, you must save them 

to the EEPROM using the function block 

"2.10.2.6 StoreParameters_LXM". 

• The two function blocks "2.10.3.2 DownloadDriveParameter_LXM" 

and "2.10.3.1 UploadDriveParameter_LXM" allow you to save the 

parameters stored in a device to an identical device without using 

the commissioning software. 


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2.10.4 Inputs and outputs 

2.10.4.1 ReadAnalogInputs_LXM 

The following function blocks allow you to access the digital and analog 

inputs and outputs of all CAN nodes in the system.. 

Function description The function block reads the current values of the analog inputs. 


Input Input_Ref_LXM 

Enable BOOL 

Compatible devices LXM05 and SD3 

ReadAnalogInputs_LXM 



ValueANA1 INT Value range: -10000 ... 10000 


ValueANA2 INT Value range: 


Notes 

2.10.4.2 MC_ReadDigitalInput_LXM 

BOOL Valid 

BOOL Busy 

BOOL Error 

INT ValueANA1 

INT ValueANA2 

Corresponds to the input voltage in [mV] at the analog input 

ANA1. 

Corresponds to the input voltage in [mV] at the analog input 

ANA2. 


• The function block uses Service Data Objects (SDO) to read the 

parameter from the device. Therefore, it is strongly recommended 

not to permanently set the input Enable to TRUE. This may cause 

overload on the fieldbus. It is recommended to deactivate the function 


• SD328: ANA2 is not available. 

Function description Reads the current state of the digital inputs of the drive. 


Input Input_Ref_LXM 

Enable BOOL 

InputNumber INT 


MC_ReadDigitalInput_LXM 

BOOL Valid 

BOOL Busy 

BOOL Error 

BOOL Value 

WORD Inputs 

Function blocks 75




InputNumber INT Value range: 0 ... 5 


Number of the input to be read. 

Input IO: Bit number 

DI0: 0 

DI1: 1 

DI2: 2 

DI3: 3 

DI4: 4 

DI5: 5 



Value BOOL Value range: FALSE, TRUE 


FALSE: Level at selected input is 0 V. 

TRUE: Level at selected input is 24 V. 

Inputs WORD Value range: 00h ... 3Fh 

Initial value: 00h 

2.10.4.3 MC_ReadDigitalOutput_LXM 

Image of the inputs as a bit pattern. Bit 0 = first input. 

Input IO: Bit number 

DI0: 0 

DI1: 1 

DI2: 2 

DI3: 3 

DI4: 4 

DI5: 5 


Notes See the product manual for a description of the digital inputs. 

Function description The function block is used to get the current state of the digital outputs. 


Output Output_Ref_LXM 

Enable BOOL 

OutputNumber INT 


MC_ReadDigitalOutput_LXM 

BOOL Valid 

BOOL Busy 

BOOL Error 

BOOL Value 

WORD Outputs 


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OutputNumber INT Value range: 0 ... 2 


Number of the output to be read. 

Output IO: Bit number 

DQ0: 0 

DQ1: 1 

DQ2: 2 (LXM05, SD328 and LXM32M only) 





FALSE: Level at selected output is 0 V. 

TRUE: Level at selected output is 24 V. 

Outputs WORD Value range: 00h ... 03h 


2.10.4.4 MC_WriteDigitalOutput_LXM 

Image of the outputs as a bit pattern. Bit 0 = first output. 

Output IO: Bit number 

DQ0: 0 

DQ1: 1 

DQ2: 2 (LXM05, SD328 and LXM32M only) 


Notes See the product manual for a description of the digital outputs. 

Function description The function blocks writes values to the digital outputs. 



Output Output_Ref_LXM 

Execute BOOL 

OutputNumber INT 

Value BOOL 

AllOutputs BOOL 

Outputs WORD 

MC_WriteDigitalOutput_LXM 

BOOL Done 

BOOL Busy 

BOOL Error 

Function blocks 77




OutputNumber INT Value range: 0 ... 2 


Signal output to which to write. 

0 = DQ0 

1 = DQ1 

2 = DQ2 



FALSE: 0V is written to the selected signal output. 

TRUE: 24V is written to the selected signal output. 

AllOutputs BOOL Value range: FALSE, TRUE 


FALSE: The signal output to be written to is set via input 

OutputNumber. 

Outputs WORD Value range: 0000h ... 0007h 


TRUE: The signal outputs to be written to are set via input 

Output. 

0: 0 V is written to the selected signal output. 

1: 24V is written to the selected signal output. 

0000 0000 0000 00012 (0000h) = Signal output 0 (DQ0) 24V 



Example: writing 24 V to all signal outputs: 

0000 0000 0000 01112 (0007h) 


Notes Functions may already have been assigned to the outputs. This function 

block checks whether or not a function is already assigned to an 

output when the output is written to. An error is generated if a function 

is assigned to the output. 


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2.10.5 Error handling 

2.10.5.1 ReadAxisWarning_LXM 

For error handling, each function block has an output Error which is 

set if a synchronous or asynchronous error occurs. 

The function block MC_ReadAxisError_xxx is called to analyze the 

cause of the error. The function block contains the stored error information. 

The function block MC_Reset_xxx deletes the error information 

entered. Future error information can now be stored. 

If an additional error occurs, the error information is only stored if no 

stored error information already exists. If there is still information pertaining 

to a previous error, the new error message is ignored. 

Function description The function block reads the most recent active warning. 




Enable BOOL 

ReadAxisWarning_LXM 



WarningID WORD Value range: 


Notes 

2.10.5.2 MC_ReadAxisError_LXM 

BOOL Valid 

BOOL Busy 

BOOL Error 

WORD WarningID 

Error number of the most recent warning. A warning is an error 

of error class 0. See the product manual for a description of 

the error numbers. 


• The function block uses Service Data Objects (SDO) to read the 


set the input Enable to TRUE. This may cause overload on 

the fieldbus. It is recommended to deactivate the function block 

when the input Busy is set to FALSE. 

Function description The function block reads the error information pertaining to the most 

recent error. 

Function blocks 79




Enable BOOL 


MC_ReadAxisError_LXM 



ErrorID WORD Value range: 0000h .... FFFFh 


0: No error stored. 

>0: Stored error number. 

AxisErrorID WORD Value range: 


BOOL Valid 

BOOL Busy 

BOOL Error 

WORD ErrorID 

WORD AxisErrorID 

See the product manual for an overview of the error numbers. 

LXM32 only: 

Bit 0 ... bit 7: Corresponds to the ID of the function block that 

has triggered the error. 

Bit 8 ... bit 15: Corresponds to the input that has triggered the 

error. The basic inputs such as Axis, Input, Execute, 

Enable, ... are not considered. 







Table of error numbers The table below shows the error numbers of the library. See the product 

manual for the error numbers of the drive. 


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ErrorID hexadecimal 

ErrorID decimal Error class Description 

1100h 4352 Parameter error 

6108h 24840 Function not available 

8130h 33072 Node Guarding error 

A309h 41737 Drive not in operating state6 Operation Enabled 

A31Bh 41755 "HALT" requested 

A338h 41784 The operating mode is not supported by this device. 

FF00h 65280 - Toggle bit unchanged 

FF01h 65281 - SDO timeout 

FF02h 65282 - Server / client command specifier invalid or unknown 

FF06h 65286 - No memory available 

FF07h 65287 - Access to object not possible 

FF08h 65288 - No read access, because write-only object (wo) 

FF09h 65289 - No write access, because read object (ro) 

FF0Ah 65290 - Object does not exist in object dictionary 

FF0Bh 65291 - Object does not support PDO mapping 

FF0Ch 65292 - Number or length of objects exceed the byte length of 

the PDO 

FF0Dh 65293 - Parameters are incompatible 

FF0Eh 65294 - Device detects internal incompatibility 

FF0Fh 65295 - Hardware error, access denied 

FF10h 65296 - Data type and parameter length do not match 

FF11h 65297 - Data type does not match, parameter too long 

FF12h 65298 - Data type does not match, parameter too short 

FF13h 65299 - Subindex not supported 

FF14h 65300 - Value range of parameter too large (relevant only for 

write access) 

FF15h 65301 - Parameter values too great 

FF16h 65302 - Parameter values too small 

FF17h 65303 - Upper value is less than lower value 

FF18h 65304 - General error 

FF19h 65305 - Data can neither be transmitted to the application nor 

saved. 

FF1Ah 65306 - Local access channel is used, data can neither be 

transmitted nor saved. 

FF1Bh 65307 - Device status keeps data from being transmitted and 

saved. 

FF1Ch 65308 - Object dictionary does not exist or cannot be generated 

(for example, if data error occurs during generation 

from file) 

FF20h 65312 - Unknown status 

FF21h 65313 - Input variable was changed before response was 

received ("2.10.1.5 MC_ReadParameter_LXM", 

"2.10.2.1 MC_WriteParameter_LXM") 

FF22h 65314 - Attempt to interrupt a non-interruptible function block 

("2.7.1.1 MC_Power_LXM", "2.7.9.1 MC_Stop_LXM") 

Function blocks 81


ErrorID hexadecimal 

ErrorID decimal Error class Description 

FF23h 65315 0 Trigger function is already active 

FF24h 65316 - PDO timeout 

FF25h 65317 - Operating mode Electronic Gear not active 

FF27h 65319 - Drive not in state "StandStill" 

FF2Ah 65322 - Trigger event lost 

FF34h 65332 - Power stage does not switch to operating state 6 Operation 

Enabled 

FF35h 65333 - Incorrect program number 

FF36h 65334 - Operating mode or function is not supported 

FF38h 65336 - Parameter list has not yet been read via 

"2.10.3.1 UploadDriveParameter_LXM". 

FF39h 65337 - Parameter list is not supported 

FF3Bh 65339 - Power stage is not in operating state 

4 Ready To Switch On 

FF3Dh 65341 - Operating mode Motion Sequence is not active 

FF3Eh 65342 - No transition condition requested 

FF3Fh 65343 - Size of parameter list is not supported 

FF50h 65360 - Initialization error of function block 

FF51h 65361 - The function block cannot be controlled via the application 

since i_iControlMode = 1. 

FF52h 65362 - The function block cannot be controlled via the visualization 

since i_iControlMode = 0. 

FF53h 65363 - The value at the input i_iControlMode is outside of 

the valid value range. 

FF54h 65364 - The value at the input iq_iCmd is outside of the valid 

value range. 

FF55h 65365 - The function block and the connected device are 

incompatible. 

2.10.5.3 MC_Reset_LXM 

Function description The function block is used to acknowledge an error. The error memory 

is cleared so that it is available for future error messages. If the power 

stage has been disabled by the automatic error response, it can be 

enabled again, provided that the cause of the error has been rectified 

when the error message is acknowledged. 



Execute BOOL 



MC_Reset_LXM 

BOOL Done 

BOOL Busy 

BOOL Error 


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2.11 Device Function 

2.11.1 Startup 

2.11.1.1 Servo_Startup 

These function blocks "Startup" support you in commissioning a drive 

system at a controller. Before these function blocks can be used, you 

must set the communication parameters baud rate and node address 

in the drive and in the controller. Function blocks and the visualization 

cannot be used simultaneously. 

The function blocks "Startup" with visualization elements have the following 

functions: 

• Switching on the drive system. 

• Displaying the status of the drive system. 

• Fast access to frequently used parameters. 

• The parameters are accessed via their index and subindex. 

• Transmitting a device parameter list from the drive to the controller 

and from the controller to the drive (upload and download). 

• Using the operating mode Homing. 

• Using the operating mode Jog. 

• Using the operating mode Profile Velocity (movement at defined 

velocity). 

• Using the operating mode Profile Position (movement to defined 

position) 

• Displaying and acknowledging error messages. 

Function description This function block supports you in commissioning a Lexium servo 

drive system for the first time. The function block comprises two visualizations 

to facilitate usage of the function block. Function blocks and 

the visualization cannot be used simultaneously. 


iq_stAxis Axis_Ref_LXM 

iq_iCMD INT 

i_sUserDeviceName string 

i_xActivate BOOL 

i_iControlMode INT 

i_diPosition DINT 

i_diVelocity DINT 

i_iTorque INT 

i_udiAcceleration UDINT 

i_udiDeceleration UDINT 

i_uiHomeMethod UINT 

i_diHomePos DINT 

i_xConfUld BOOL 

i_xConfDld BOOL 

Compatible devices LXM05 and LXM32 

Servo_Startup 


BOOL q_xReady 

BOOL q_xBusy 

OpMode q_eDriveMode 

State q_eStatus 

OpState q_eDrvStatus 

DINT q_diActPosUsr 

DINT q_diActPosInc 

DINT q_diActVelUsr 

INT q_iActIdq 

DriveParams q_stDriveParams 

BOOL q_xError 

WORD q_wErrorID 

Function blocks 83



iq_stAxis Axis_Ref_LXM Value range: 


Axis structure 

iq_iCMD INT Value range: 


Commands: 

-1: command is active 

0: no ongoing command 

1: ENABLE (enable power stage) 

2: DISABLE (disable power stage) 

3: Reset 

4: Stop 

5: SetPos 

6: Inc + 

7: Inc – 

8: MoveAbs 

9: MoveVel 

10: Homing 

11: TorqueMode 

The function to be executed is written by the application as a 

command and overwritten by the function block when it is processed. 

Condition: The input is only effective if the value of Control- 

Mode is 1. 

To start the selected function, the value in the parameter CMD 

must be written once. As soon as the command is executed, 

the value is overwritten by -1. When the execution of the command 

is terminated, the value is overwritten by 0. 



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i_sUserDeviceName string Value range: 


i_xActivate BOOL Value range: FALSE, TRUE 


i_iControlMode INT Value range: 


i_diPosition DINT Value range: 


Name of the axis. The name is defined by the user. If no name 

is entered, the node ID is displayed. 

The selected ControlMode is activated with a rising edge. 

If all requirements for the selected ControlMode are met, the 

selected ControlMode is started. 

If the requirements are not met, the selection is canceled with 

an error message. 

ControlMode = 0: The functions are controlled via the visualization. 

ControlMode = 1: The functions are controlled via the application. 

The visualization is deactivated. 

Target position in [usr] 

i_diVelocity DINT Value range: 


Target velocity in [usr] 

i_iTorque INT Value range: 


Target torque 

i_udiAcceleration UDINT Value range: 


i_udiDeceleration UDINT Value range: 


i_uiHomeMethod UINT Value range: 


i_diHomePos DINT Value range: 



motor. 

Value for acceleration ramp in [usr]. 

Value for deceleration ramp in [usr]. 

Selected Homing method. 

i_xConfUld BOOL Value range: FALSE, TRUE 


i_xConfDld BOOL Value range: FALSE, TRUE 


Position of the reference point for position setting (Homing 

method). 

A rising edge triggers an upload (saving parameters from 

device to controller). 

A rising edge triggers a download (stored parameters from 

controller to device). 


Function blocks 85



q_xReady BOOL Value range: FALSE, TRUE 


q_xBusy BOOL Value range: FALSE, TRUE 


q_eDriveMode OpMode Value range: 


q_eStatus State Value range: 


Function block has been activated and is ready for operation. 

A function is being performed via the function block. If a new 

function is started, the currently active function is canceled. 

Active operating mode (also see the state machine in the product 

manual): 

0: No operating mode active 

1: Operating mode Jog 

2: Operating mode Homing 

3: Operating mode Profile Position 

4: Operating mode Profile Velocity 

5: Operating mode Electronic Gear 

6: Operating mode Current Control 

7: Operating mode Speed Control 

8: AutoTuning 

9: Operating mode Profile Torque 

State as per PLCopen state diagram: 

0: Undefined 

1: Errorstop 

2: Disabled 

3: Stopping 

4: StandStill 

5: DiscreteMotion 

6: ContinuousMotion 

7: SynchronizedMotion 

8: Homing 

q_eDrvStatus OpState Value range: 


q_diActPosUsr DINT Value range: 


Operating state of the drive: 

1: 1 Start 

2: 2 Not Ready To Switch On 

3: 3 Switch On Disabled 

4: 4 Ready To Switch On 

5: 5 Switched On 

6: 6 Operation Enabled 

7: 7 Quick Stop Active 

8: 8 Fault Reaction Active 

Actual position in [usr] 

q_diActPosInc DINT Value range: 


Actual position in [inc] 

q_diActVelUsr DINT Value range: 


Actual velocity in [usr] 


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q_iActIdq INT Value range: 


Actual current in [Arms] 

q_stDriveParams DriveParams Value range: 


Data structure, consisting of 

STRING: Device identification 

REAL: Firmware version of the device 

q_xError BOOL Value range: FALSE, TRUE 


q_wErrorID WORD Value range: 


Notes 

FALSE: No error has been detected. 

TRUE: An error has been detected. 

Error number. 

WARNING 

UNINTENDED BEHAVIOR DUE TO INCONSISTENT COMMANDS 

If you have activated this function block, simultaneous use of other 

function blocks of the library leads to unintended behavior. 

• Only activate this function block when all other function blocks of 

the library are inactive. 

• Deactivate this function block before activating any other function 

block of the library. 



Function blocks 87


Operating mode Current Control 

and operating mode Profile Torque 

Visualization 

Servo_Startup_ManVis 

The visualization Servo_Startup_TuneVis provides direct access 

to many of the parameters of the drive. The parameters are addressed 

by means of index and subindex. Parameter values can be read and 

written. An image of defined parameter values can be saved from the 

drive to the controller. The stored parameter values can also be transferred 

from the controller to the drive as a single unit. 

The visualization Servo_Startup_ManVis allows you to start the 

operating mode Current Control and the operating mode Profile Torque. 

Observe the following safety instruction for these operating 

mode: 

WARNING 








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2.11.1.2 Stepper_Startup 

The visualization Servo_Startup_ManVis allows you to display the 

status of the drive. It is possible to start and stop movements. 

The following operating modes can be started: 

• Operating mode Jog 

• Operating mode Homing. 

• Operating mode Profile Position (movement to defined position). 

• Operating mode Profile Velocity (movement at defined velocity). 

• Operating mode Electronic Gear. 

• Operating mode Current Control. 

• Operating mode Speed Control. 

• Operating mode Profile Torque (LXM32 only). 

• Autotuning is also possible. 

Function description This function block supports you in commissioning a Lexium drive system 

for stepper motors for the first time. The function block comprises 

two visualizations to facilitate usage of the function block. Function 

blocks and the visualization cannot be used simultaneously. 

Function blocks 89



Compatible devices SD3 

iq_stAxis Axis_Ref_LXM 

iq_iCMD INT 

i_sUserDeviceName string 

i_xActivate BOOL 

i_iControlMode INT 

i_diPosition DINT 

i_diVelocity DINT 

i_iTorque INT 

i_udiAcceleration UDINT 

i_udiDeceleration UDINT 

i_uiHomeMethod UINT 

i_diHomePos DINT 

i_xConfUld BOOL 

i_xConfDld BOOL 

Stepper_Startup 



iq_stAxis Axis_Ref_LXM Value range: 


Axis structure 

iq_iCMD INT Value range: 


Commands: 

-1: command is active 

0: no ongoing command 

1: ENABLE (enable power stage) 

2: DISABLE (disable power stage) 

3: Reset 

4: Stop 

5: SetPos 

6: Inc + 

7: Inc – 

8: MoveAbs 

9: MoveVel 

10: Homing 

BOOL q_xReady 

BOOL q_xBusy 

OpMode q_eDriveMode 

State q_eStatus 

OpState q_eDrvStatus 

DINT q_diActPosUsr 

DINT q_diActPosInc 

DINT q_diActVelUsr 

INT q_iActIdq 

DriveParams q_stDriveParams 

BOOL q_xError 

WORD q_wErrorID 

The function to be executed is written by the application as a 

command and overwritten by the function block when it is processed. 

Condition: The input is only effective if the value of Control- 

Mode is 1. 

To start the selected function, the value in the parameter CMD 

must be written once. As soon as the command is executed, 

the value is overwritten by -1. When the execution of the command 

is terminated, the value is overwritten by 0. 



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i_sUserDeviceName string Value range: 


i_xActivate BOOL Value range: FALSE, TRUE 


i_iControlMode INT Value range: 


i_diPosition DINT Value range: 


Name of the axis. The name is defined by the user. If no name 

is entered, the node ID is displayed. 

The selected ControlMode is activated with a rising edge. 

If all requirements for the selected ControlMode are met, the 

selected ControlMode is started. 

If the requirements are not met, the selection is canceled with 

an error message. 

ControlMode = 0: The functions are controlled via the visualization. 

ControlMode = 1: The functions are controlled via the application. 

The visualization is deactivated. 

Target position in [usr] 

i_diVelocity DINT Value range: 


Target velocity in [usr] 

i_iTorque INT Value range: 


Target torque 

i_udiAcceleration UDINT Value range: 


i_udiDeceleration UDINT Value range: 


i_uiHomeMethod UINT Value range: 


i_diHomePos DINT Value range: 



motor. 

Value for acceleration ramp in [usr] 

Value for deceleration ramp in [usr] 

Selected Homing method. 

i_xConfUld BOOL Value range: FALSE, TRUE 


i_xConfDld BOOL Value range: FALSE, TRUE 


Position of the reference point for position setting (Homing 

method). 

A rising edge triggers an upload (saving parameters from 

device to controller). 

A rising edge triggers a download (stored parameters from 

controller to device). 


Function blocks 91



q_xReady BOOL Value range: FALSE, TRUE 


q_xBusy BOOL Value range: FALSE, TRUE 


q_eDriveMode OpMode Value range: 


q_eStatus State Value range: 


Function block has been activated and is ready for operation. 

A function is being performed via the function block. If a new 

function is started, the currently active function is canceled. 

Active operating mode (also see the state machine in the product 

manual): 

0: No operating mode active 

1: Operating mode Jog 

2: Operating mode Homing 

3: Operating mode Profile Position 

4: Operating mode Profile Velocity 

5: Operating mode Electronic Gear 

6: Operating mode Current Control 

7: Operating mode Speed Control 

8: AutoTuning 

9: Operating mode Profile Torque 

State as per PLCopen state diagram: 

0: Undefined 

1: Errorstop 

2: Disabled 

3: Stopping 

4: StandStill 

5: DiscreteMotion 

6: ContinuousMotion 

7: SynchronizedMotion 

8: Homing 

q_eDrvStatus OpState Value range: 


q_diActPosUsr DINT Value range: 


Operating state of the drive: 

1: 1 Start 

2: 2 Not Ready To Switch On 

3: 3 Switch On Disabled 

4: 4 Ready To Switch On 

5: 5 Switched On 

6: 6 Operation Enabled 

7: 7 Quick Stop Active 

8: 8 Fault Reaction Active 

Actual position in [usr] 

q_diActPosInc DINT Value range: 


Actual position in [inc] 

q_diActVelUsr DINT Value range: 


Actual velocity in [usr] 


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q_iActIdq INT Value range: 


Actual current in [Arms] 

q_stDriveParams DriveParams Value range: 


Data structure, consisting of: 

STRING: Device identification 

REAL: Firmware version of the device 

q_xError BOOL Value range: FALSE, TRUE 


q_wErrorID WORD Value range: 


Notes 

FALSE: No error has been detected. 

TRUE: An error has been detected. 

Error number. 

WARNING 

UNINTENDED BEHAVIOR DUE TO INCONSISTENT COMMANDS 

If you have activated this function block, simultaneous use of other 

function blocks of the library leads to unintended behavior. 

• Only activate this function block when all other function blocks of 

the library are inactive. 

• Deactivate this function block before activating any other function 

block of the library. 



Function blocks 93


The visualization Stepper_Startup_TuneVis provides direct 

access to many of the parameters of the drive. The parameters are 

addressed by means of index and subindex. Parameter values can be 

read and written. An image of defined parameter values can be saved 

from the drive to the controller. The stored parameter values can also 

be transferred from the controller to the drive as a single unit. 


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The visualization Stepper_Startup_ManVis allows you to display 

the status of the drive. It is possible to start and stop movements. 

The following operating modes can be started: 

• Operating mode Jog 

• Operating mode Homing 

• Operating mode Profile Position (movement to defined position) 

• Operating mode Profile Velocity (movement at defined velocity) 

• Operating mode Electronic Gear 

• Operating mode Oscillator 

Function blocks 95



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Lexium Library 3 Glossary 

3 Glossary 

3.1 Units and conversion tables 

3.1.1 Length 

The value in the specified unit (left column) is calculated for the 

desired unit (top row) with the formula (in the field). 

Example: conversion of 5 meters [m] to yards [yd] 

5 m / 0.9144 = 5.468 yd 

in ft yd m cm mm 

in - / 12 / 36 * 0.0254 * 2.54 * 25.4 

ft * 12 - / 3 * 0.30479 * 30.479 * 304.79 

yd * 36 * 3 - * 0.9144 * 91.44 * 914.4 

m / 0.0254 / 0.30479 / 0.9144 - * 100 * 1000 

cm / 2.54 / 30.479 / 91.44 / 100 - * 10 

mm / 25.4 / 304.79 / 914.4 / 1000 / 10 - 

3.1.2 Mass 

lb oz slug kg g 

lb - * 16 * 0.03108095 * 0.4535924 * 453.5924 

oz / 16 - * 1.942559*10 -3 * 0.02834952 * 28.34952 

slug / 0.03108095 / 1.942559*10 -3 - * 14.5939 * 14593.9 

kg / 0.45359237 / 0.02834952 / 14.5939 - * 1000 

g / 453.59237 / 28.34952 / 14593.9 / 1000 - 

3.1.3 Force 

lb oz p N 

lb - * 16 * 453.55358 * 4.448222 

oz / 16 - * 28.349524 * 0.27801 

p / 453.55358 / 28.349524 - * 9.807*10 -3 

N / 4.448222 / 0.27801 / 9.807*10 -3 - 

3.1.4 Power 

HP W 

HP - * 746 

W / 746 - 


3

3 Glossary Lexium Library 

3.1.5 Rotation 

min -1 (RPM) rad/s deg./s 

min -1 (RPM) - * π / 30 * 6 

rad/s * 30 / π - * 57.295 

deg./s / 6 / 57.295 - 

3.1.6 Torque 

lb‧in lb‧ft oz‧in Nm kp‧m kp‧cm dyne‧cm 

lb‧in - / 12 * 16 * 0.112985 * 0.011521 * 1.1521 * 1.129*10 6 

lb‧ft * 12 - * 192 * 1.355822 * 0.138255 * 13.8255 * 13.558*10 6 

oz‧in / 16 / 192 - * 7.0616*10 -3 * 720.07*10 -6 * 72.007*10 -3 * 70615.5 

Nm / 0.112985 / 1.355822 / 7.0616*10 -3 - * 0.101972 * 10.1972 * 10*10 6 

kp‧m / 0.011521 / 0.138255 / 720.07*10 -6 / 0.101972 - * 100 * 98.066*10 6 

kp‧cm / 1.1521 / 13.8255 / 72.007*10 -3 / 10.1972 / 100 - * 0.9806*10 6 

dyne‧cm / 1.129*10 6 / 13.558*10 6 / 70615.5 / 10*10 6 / 98.066*10 6 / 0.9806*10 6 - 

3.1.7 Moment of inertia 

lb‧in 2 lb‧ft 2 kg‧m 2 kg‧cm 2 kp‧cm‧s 2 oz‧in 2 

lb‧in 2 - / 144 / 3417.16 / 0.341716 / 335.109 * 16 

lb‧ft 2 * 144 - * 0.04214 * 421.4 * 0.429711 * 2304 

kg‧m 2 * 3417.16 / 0.04214 - * 10*10 3 * 10.1972 * 54674 

kg‧cm 2 * 0.341716 / 421.4 / 10*10 3 - / 980.665 * 5.46 

kp‧cm‧s 2 * 335.109 / 0.429711 / 10.1972 * 980.665 - * 5361.74 

oz‧in 2 / 16 / 2304 / 54674 / 5.46 / 5361.74 - 

3.1.8 Temperature 

°F °C K 

°F - (°F - 32) * 5/9 (°F - 32) * 5/9 + 273.15 

°C °C * 9/5 + 32 - °C + 273.15 

K (K - 273.15) * 9/5 + 32 K - 273.15 - 

3.1.9 Conductor cross section 

AWG 1 2 3 4 5 6 7 8 9 10 11 12 13 

mm 2 42.4 33.6 26.7 21.2 16.8 13.3 10.5 8.4 6.6 5.3 4.2 3.3 2.6 

AWG 14 15 16 17 18 19 20 21 22 23 24 25 26 

mm 2 2.1 1.7 1.3 1.0 0.82 0.65 0.52 0.41 0.33 0.26 0.20 0.16 0.13 


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Lexium Library 3 Glossary 

3.2 Terms and Abbreviations 

See chapter "1.5 Standards and terminology" for information on the 

pertinent standards on which many terms are based. Some terms and 

abbreviations may have specific meanings with regard to the standards. 

Asynchronous error Asynchronous errors are signaled without a request. Example of an 

asynchronous error: Power stage overtemperature. 

Device data The term device data refers to the parameter values of a device. The 

data is stored in the EEPROM of the device (persistent memory). 

Error Discrepancy between a detected (computed, measured or signaled) 

value or condition and the specified or theoretically correct value or 

condition. 

Error class Classification of errors into groups. The different error classes allow 

for specific responses to errors, for example by severity. 

Factory setting Factory settings when the product is shipped 

Fatal error In the case of fatal error, the product is no longer able to control the 

motor so that the power stage must be immediately disabled. 

Fault Fault is a state that can be caused by an error. Further information 

can be found in the pertinent standards such as IEC 61800-7, ODVA 

Common Industrial Protocol (CIP). 

Fault reset A function used to restore the drive to an operational state after a 

detected error is cleared by removing the cause of the error so that 

the error is no longer active. 

LED Light Emitting Diode 

Limit switch Switches that signal overtravel of the permissible range of travel. 

Node guarding Monitoring of the connection to the slave at an interface for cyclic data 

traffic. 

Parameter Device data and values that can be read and set (to a certain extent) 

by the user. 

Power stage The power stage controls the motor. The power stage generates current 

for controlling the motor on the basis of the positioning signals 

from the controller. 

RS485 Fieldbus interface as per EIA-485 which enables serial data transmission 

with multiple devices. 

Synchronous error Error signaled by the controller if it is unable to execute a command 

received from the master. 

Warning If the term is used outside the context of safety instructions, a warning 

alerts to a potential problem that was detected by a monitoring function. 

A warning does not cause a transition of the operating state. 

Function blocks 99

3 Glossary Lexium Library 


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Lexium Library 4 Index 

4 Index 

A 

B 

C 

D 

E 

G 

H 

I 

Abbreviations 99 

AbortMotionSequence_LXM 59 

Before you begin 

Safety information 9 

CurrentControl_LXM 36 

Device data 99 

Disclaimer 8 

DownloadDriveParameter_LXM 73 

Error code 80 

GearInSync_LXM 53 

GetSupplierVersion 66 

Glossary 97 

Hazard categories 10 

Intended use 9 

M 

Manuals 

4 

Source 7 

MC_AbortTrigger_LXM 52 

MC_GearIn_LXM 54 

MC_GearOut_LXM 56 

MC_Halt_LXM 49 

MC_Home_LXM 46 

MC_Jog_LXM 34 

MC_MoveAbsolute_LXM 43 

MC_MoveAdditive_LXM 44 

MC_MoveRelative_LXM 44 

MC_MoveVelocity_LXM 42 

MC_Power_LXM 33 

MC_ReadActualPosition_LXM 61 

MC_ReadActualTorque_LXM 60 

MC_ReadActualVelocity_LXM 60 

MC_ReadAxisError_LXM 79 

MC_ReadDigitalInput_LXM 75 

MC_ReadDigitalOutput_LXM 76 

MC_ReadParameter_LXM 64 

MC_ReadStatus_LXM 62 

MC_Reset_LXM 82 

MC_SetPosition_LXM 48 

MC_Stop_LXM 49 

MC_TorqueControl_LXM 38 

MC_TouchProbe_LXM 51 

MC_WriteDigitalOutput_LXM 77 

MC_WriteParameter_LXM 67 

Function blocks 101

4 Index Lexium Library 

P 

Q 

R 

S 

Purpose of this document 7 

Qualification of personnel 9 

ReadAnalogInputs_LXM 75 

ReadAxisWarning_LXM 79 

ReadDataSet_LXM 57 

ReadMotionSequenceStatus_LXM 57 

ResetParameters_LXM 71 

Servo_Startup 83 

SetDriveRamp_LXM 68 

SetLimitSwitch_LXM 70 

SetStopRamp_LXM 69 

Source 

Manuals 7 

T 

U 

V 

W 

StartMotionSequence_LXM 58 

Stepper_Startup 89 

StoreParameters_LXM 71 

Terms 99 

Units and conversion tables 97 

UploadDriveParameter_LXM 73 

Validity note 7 

VelocityControl_LXM 40 

WriteDataSet_LXM 58 

WriteTransitionCondition_LXM 58 


0198441113892, V2.09, 04.2012

Lexium Library

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